linmot industrial linear motors catalog - servo drives...1/2/3 phase motor (brushless dc, voice...

316 www.LinMot.com Edition 16subject to change

Servo Drives

Courtesy of Steven Engineering, Inc. - (800) 258-9200 - [email protected] - www.stevenengineering.com

www.LinMot.com 317 Edition 16subject to change

Servo Drives

LinMot Servo Drives 318

Servo Drives E100/E1001 325

Servo Drive E1100 349

Servo Drive E1200 373

Servo Drive C1200 389

Servo Drive B1100 405

Multi-Axes System B1150 / 8050 425

Ser

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es



Complex applications with synchronization to a main or master shaft can be implemen-ted without trouble using the integrated master encoder interface.

Travel along paths from an overlaid NC drive can be implemented via the +/-10V in-terface, or in streaming mode (PVT, PV).

Together with a high-resolution, external position sensor, even high-precision positi-oning tasks in µm range can be handled.

Because of their high dynamic capabili-ties, long life, and ability to travel to seve-ral positions, LinMot linear motors are often used as a replacement for pneuma-tic cylinders.

Various end positions can be stored in the drive and are invoked via digital signals, just as with a pneumatic cylinder. Once the end position is reached, this is repor-ted to the overlaid control via the In-positi-on signal on a digital output.Speed and acceleration can be configured freely for each motion.

Servo Drives

With control via fieldbusses or an Ethernet interface, standard applications can be im-plemented with simple point-to-point mo-tions. Position, speed, and acceleration can be configured freely, and are provided via the bus.

Complicated or co-dependent motions can be stored on the drive in the form of travel profiles, and started via digital trigger sig-nals or the bus connection.

Intelligence right in the driveLinMot Servo Drives are highly integrated inverters with one or more power elements, for controlling the motors, and an intelligent control element with integrated position regulation. The control element performs all drive-related control and monitoring functions. It allows direct position set points, or travel along internally stored motion profiles from the overlaid control, using simple analog or digital signals.

LinMot linear motors, together with the associa-ted Servo Drives, create an optimal drive system for linear positioning tasks. The wide range of drive products allows rapid implementation of simple applications with two end positions, up to complex, high-precision multi-axis applications with synchronization to a main electronic shaft.

Simple IntegrationConnection to an overlaid control system can be made via analog, digital, or serial interfaces, fieldbusses, or ETHERNET. The wide range of fieldbus interfaces and protocols allows simple integration of LinMot Servo Drives in any cont-rols concept. Regardless of the manufacturer and type of controls, LinMot Servo Drives provi-de the right interface to connect to an overlaid PLC, industrial PC, or proprietary control system.

Simplest Applications Standard Applications High-End Applications

LinMot Servo Drives

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In multi-axes or linked operation, the master encoder interface can control both individu-ally and synchronous to a main or master shaft.

For complex designs, several axes can be synchronized in master-booster or master-gantry mode. This allows simple implemen-tation of portal designs with two synchro-nized axes, which are controlled by the overlaid control as a single axis.

Modular FirmwareLinMot Servo Drives are used as pure position drives. Additionally, using the technology functions or a customer-specific software application, complete sequences or functions can be implemented for customerspecific applications.

Application SoftwareUsing a software application, customer-specific applications can be programmed directly in the drive. This is mainly an advantage when very fast sequences need to be implemented, for which the communication speed or computing power of the overlaid control are not sufficient.

Technology FunctionsTechnology functions are generally available functional blocks that provide a complete soluti-on for standard applications. The technology function can take over complete sequence con-trol of a process. With the technology function "winding textile yarns", only a few parameters are provided by the overlaid control, such as the number of windings. The complete winding pro-cess then takes place automatically.

Basic FunctionsThe basic functions include communication with the overlaid control, generation of target values for speed and acceleration-limited point-to-point motions, travel along motion profiles, synchroni-zation of drives to an electronic main or master shaft, and synchronization in multi-axis applica-tions.

Monitoring and ControlThe basic functions of the Servo Drive, such as position and current control; control and monito-ring of the power element; and monitoring the motor temperature, power, and position are handled by the control, monitoring, and regulati-on element, which also controls the entire finite state machine of the drive.

Multi-axis operation Linear and Rotary Drives Certified Safety

Using Series E1100 / B1100 Servo Drives, rotary servomotors can be used as well as linear motors, or any 1/2/3-phase actuators.

Primarily in assembly automation and fee-ding applications, small, light brushless DC motors (EC motors) are often needed to ro-tate a gripper about the Z-axis. The flexibili-ty of the Servo Drive allows such rotary motors to be integrated into the existing controls concept in the same simple man-ner as linear motors.

The safe impulse block on the Series E1100 Servo Drive allows safety concepts to be implemented in machines and system with minimum effort and additional external com-ponents.

Safety Standard EN954-1

Application Software

Technology Functions

Basic Functions

Monitoring and Control Functions

Force Feedback

Mot

or M

onito

ring

Winding

Trigger Events

FieldbusInterface

Command Table

VA-InterpolatorTime

Curves Master EncoderPosition

StreamingS

tate

con

trol

I/O M

onito

ring

Bus

Mon

itorin

gH

ardw

are

Mon

itorin

g

Mot

or c

omm

unic

atio

n

Pos

ition

Con

trol

Spe

ed C

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l

Forc

e C

ontro

l

Cur

rent

Con

trol

Servo Drives

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Single and multiple axes drives for stan-dard positioning tasks.•• Analog, digital, and industrial fieldbus

interfaces • For low forces • For standard precision • 16-Bit position resolution for short and

medium stroke ranges • Point to point motions and travel along

setpoint curves • Electronic cam disc (Option) • Master gantry and master booster syn-

chronization • Control of LinMot linear motors

Single and multiple axes drive for standard positioning tasks.

• Analog, digital, and industrialfieldbus interfaces

• For low and medium forces • For standard precision • 16-Bit position resolution for short and

medium stroke ranges • Point to point motions and travel along

setpoint curves • Master gantry and master booster syn-

chronization • Control of LinMot linear motors

Servo Drive Series E100 Servo Drive Series E1001 Servo Drives E400 in use

DigitalI/O´s

RS232RS485

CAN-open

Device-Net

ProfibusDP

Servo Drive Series E100/E1001

Servo controls from the Series E100 and E1001 are one, two, or four-axis drives with 16-bit posi-tion resolution.

The drives are suitable for simple and standard positioning tasks in the low to medium force ran-ge, in which linear motors are operated without optional peripherals such as reference and end stop switches, external high-precision position sensors, or a holding brake.

Connection to the overlaid control is done via analog and digital signals, a serial connection, and fieldbusses.

The compact size is a great advantage of the Se-ries E100/E1001 Servo Drives, primarily for com-pound and multi-axis applications, with regard to installation space and effort.

LogicSupply

MotorSupply

Trigger-Inputs

RS232

Su

pply

Pro

zess

Inpu

tsC

onfig

.

Analog-Inputs

LinmotServo DriveSeriesE100 / E1001

Position Drive:• 16 Bit Position Value• Resolution 20µm

Run Modes:• VA Interpolated

Moves• Analog Position• Run Curves• Two Point Trigger

Moves

Internal stored Curves:• Max. 64 Curves• Up to 4´000 set

points

Fieldbusses and interfaces to the overlaid control

Servo Drives

Fmax = 200N

Fmax = 200N

Fmax = 200N

Fmax = 200N

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Single-axis drive for simplest, standard, and high-end positioning tasks.

• Analog, digital, and industrial fieldbus in-terfaces, as well as industrial ETHERNET

• For low, medium, and high forces • For standard and high-precision applica-

tions • 32-bit position resolution for short, medi-

um, and long stroke ranges • Point to point motions and travel along

setpoint curves and motion profiles • Integrated brake chopper for external

brake resistor • Output for controlling a mechanical brake • Inputs for external end position and refer-

ence switches

Servo Drive Series E1100/B1100 Series E1200/C1200

LinMot Servo Drives are modular axis drives with 32-bit position resolution for linear motors and rota-ry drives.

The drives are suitable for simplest, standard, and high-end positioning tasks, across the entire force range of the LinMot product range. Flexible hard-ware enables control of any 1/2/3-phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same controls concept.

Additionally, the drives can be equipped with optio-nal peripherals, such as reference and end stop switches, high-precision external position sensors, and holding brakes.

LinMot Servo Drives have analog and digital inputs and outputs, serial interfaces, fieldbusses, and ETHERNET connections. The user is therefore not dependent on the selection of the overlaid control. An appropriate interface is available, with associa-ted protocols, for any PLC or IPC solution.

With flexibility and a compact form factor, LinMot Servo Drives provide a complete solution for a fle-xible drive concept in single and multiple axis appli-cations, with linear motors and other actuators.

Servo Drive Series E1100 Servo Drive Series B1100

• Fast trigger inputs • Event Capture Input • Safe pulse inhibitor • Integrated sequence controller • Position Indexing • Position Streaming • Synchronization to feeds and conveyor

belts • Electronic cam disc / Master Encoder• Master-slave synchronization for gantry

applications • Technology blocks for standard applica-

tions • Configurable via ETHERNET or fieldbus

interfaces • Control of linear and rotary motor

Single-axis drive for simplest and standard positioning tasks.

• Analog, digital, and CAN/RS232/485 in-terfaces, encoder simulation

• For low, medium, and high forces• For standard and high-precision applica-

tions• 32bit position resolution for short, medi-

um, and long stroke ranges• Position Indexing• Position Streaming• Control of linear and rotary motors• Output for controlling a mechanical brake• End position and reference switches


DigitalI/O´s

RS232RS485

CANopen

Device-Net

ProfibusDP

LogicSupply

MotorSupply

TriggerInputs

MasterEncoder

Out

RS232CAN

Optional Limit and Home Switches

LinMot LinearMotor or other1/2/3 phase motor (Brushless DC, Voice Coil,...)

Optional Brake

Sup

ply

and

Sa

fety

Fas

t P

roze

ss In

puts

Con

fig.

Syn

ch.

MasterEncoder

In

AnalogInputs

LinmotServo DriveE1100/B1100E1200/C1200

Position Drive:• 32 Bit Position Value• Resolution 0.1µm


Moves• Analog Position• Run Curves*• Two Point Trigger

Moves• Master Encoder Syn-

chronisation• Streaming P, PV• Step, Direction

Internal stored Curves:*• Max. 99 Curves• Up to 15´000

set points

Command Table:*• Up to 255 (E1200)• Up to 32 (B1100)

Commands

Syn

ch.

ProfiNet SercosIII

PowerLink

Ethernet IP

EtherCAT

Regener-ation

Resistor

Safety Voltage Enable

Capture

CAN

Con

fig.

Limit - Switch

Home Switch

Limit + Switch

Optional external Position Sensor

External Position Sensor

Servo Drives

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Servo Drive Series E100 Series E1001 Series E1400 Series E1200Controllable Actuators

Linear Motors Series P01 -

Linear Motors Series P10 - - -

Linear Motors Generic (3rd Part) - -

DC Motors - -

EC Motors (Brushless DC Motors) - -

Torque Motors - -

Electric PropertiesMotor Supply Voltage DC 24…48VDC 24…72VDC 200...750VDC 24...85VDC

Motor Supply Voltage AC - - 3x200…480VAC

Max. Phase Current 3Apk 8Apk 40Apk 32Apk

Internal Chopper No Yes Yes Yes

InterfacesAnalog Force/Torque -

Analog Velocity -

Analog Position

Step/Direction

RS232

RS485

CANopen

DeviceNet - -

Profibus DP

ETHERCAT - -

PROFINET - -

ETHERNET IP - -

SERCOS III - -

POWERLINK - -

Configuration InterfacesRS232 - Single Axes

CAN - Multi Axes - -

Ethernet - Multi Axes - -

Ethernet - Remote Maintenance - -

Motion CommandsPosition Streaming P, PV, PVT - -

Interpolated Moves VA-limited

Interpolated Moves Bestehorn - -

Curves Time Based

Curves Master Encoder

Belt Synchronization - -

Command Table

Winding Application

Closed Loop Force Control - -

Customer Specific Funtionalities

Position FeedbackLinMot Encoder Motor Link C Motor Link P

SinCos (1Vpp) - -

Incremental Encoder A,B,Z (RS422)

Incremental Encoder A,B,Z (RS422) with U,V,W - - -

Incremental Encoder A,B,Z (RS422) with U,V,W (RS422) - -

Absolute Encoder SSI - -

Absolute Encoder Analog - -

Encoder Emulation Output A,B,Z (RS2422) - -

SynchronisationMaster Encoder Input A,B,Z (RS422)

Master Encoder Output A,B,Z (RS422)

Digital & Analoge InterfacesDigital Inputs 24VDC 8 8 1 1

Digital IO 24VDC 0 0 8 8

Digital Outputs 24VDC 4 4 0 0

Analog Inputs 0…10VDC 4 (10 Bit) 4 (10 Bit) 1 (12 Bit) 1 (12 Bit)

Analog Inputs -10…+10VDC - - 1 (12 Bit) 1 (12 Bit)

Brake Output - - 24V/1A 24V/1A

Safety FunctionsSeperate Power Supply Input

Safety Voltage Enable SVE - - -

Safety Relais - - x (-1S) -

STO - Safe Torque Off - - x (-1S) -

Resolutuion & TimingsPosition Drive Resolution 16 Bit 16 Bit 32 Bit 32 Bit

Position Drive Update Rate - - 8kHz 10kHz

I/O Update Rate 1.6ms 1.6ms 4kHz 5kHz

I/O Update Rate Trigger and Capture Input 1.25kHz 1.25kHz 8kHz 10kHz

Current Drive Frequency 2.5kHz 2.5kHz 16kHz 20kHz

PWM Frequency - - 8kHz 20kHz

ApprovalsCE CE CE CE CE

UL - - UL pending UL pending

Servo Drives

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s



Servo Drives

Ser

vo D

rive

s

Servo Drive Series C1200 Series E1100 Series B1100Controllable Actuators

Linear Motors Series P01

Linear Motors Series P10 - - -

Linear Motors Generic (3rd Part)

DC Motors

EC Motors (Brushless DC Motors)

Torque Motors

Electronic PropertiesMotor Supply Voltage DC 24...85VDC 24...85VDC 24...85VDC

Motor Supply Voltage AC - - -

Max. Phase Current 25Apk 8 / 15 / 25Apk 8 / 15 / 25Apk

Internal Chopper No Yes No

InterfacesAnalog Force/Torque

Analog Velocity

Analog Position

Step/Direction

RS232

RS485

CANopen

DeviceNet -

Profibus DP -

ETHERCAT - B1150

PROFINET - B1150

ETHERNET IP - B1150

SERCOS III - B1150

POWERLINK - B1150

Configuration InterfacesRS232 - Single Axes

CAN - Multi Axes -

Ethernet - Multi Axes - - -

Ethernet - Remote Maintenance - - -

Motion CommandsPosition Streaming P, PV, PVT

Interpolated Moves VA-limited

Interpolated Moves Bestehorn

Curves Time Based

Curves Master Encoder - -

Belt Synchronization - -

Command Table

Winding Application -

Closed Loop Force Control

Customer Specific Funtionalities

Position FeedbackLinMot Encoder Motor Link P Motor Link P Motor Link P

SinCos (1Vpp) -

Incremental Encoder A,B,Z (RS422)

Incremental Encoder A,B,Z (RS422) with U,V,W

Incremental Encoder A,B,Z (RS422) with U,V,W (RS422)

Absolute Encoder SSI - -

Absolute Encoder Analog

Encoder Emulation Output A,B,Z (RS2422) - -

SynchronisationMaster Encoder Input A,B,Z (RS422) - -

Master Encoder Output A,B,Z (RS422) - -

Digital & Analoge InterfacesDigital Inputs 24VDC 4 0 / 16 (GP) 6

Digital IO 24VDC 0 9 0

Digital Outputs 24VDC 5 0 / 8 (GP) 6

Analog Inputs 0…10VDC - 1 (10 Bit) 1 (10Bit)

Analog Inputs -10…+10VDC - 0 1 (10Bit)

Brake Output 24V/0.5A 24V/1A 24V/0.5A

Safety FunctionsSeperate Power Supply Input

Safety Voltage Enable SVE - (RS, CO, DN,DP) -

Safety Relais (-1S) - -

STO - Safe Torque Off (-1S) - -

Resolutuion & TimingsPosition Drive Resolution 32 Bit 32 Bit 32 Bit

Position Drive Update Rate 10kHz 3kHz 5kHz

I/O Update Rate 5kHz 1.5kHz 2.5kHz

I/O Update Rate Trigger and Capture Input 10kHz 3kHz 5kHz

Current Drive Frequency 20kHz 6kHz 10kHz

PWM Frequency 20kHz 20kHz 20kHz

ApprovalsCE CE CE CE

UL UL pending UL -



Notes



Servo Drives

Servo Drive E100/E1001

Series E100/E1001-AT/MT 330

Series E100/E1001-CO/DN 332

Series E130/E1031-DP 334

Ser

ies

E10

0/E

1001



As a fast process interface for direct reading of sensor signals, one combined analog/di-gital input per drive is available as an analog position target or a trigger input.

Series E100 and E1001 Servo Drives al-low control of up to four linear motors by one drive.The linear motors themselves are opera-ted without any complicated peripherals, such as end position monitors or refe-rence switches.

The individual linear motors are either completely independently controlled, or they are synchronized with each other in special applications, in master booster or master gantry mode.

The E100 and E1001 series Servo Drives can be controlled through the following in-terfaces:

• Digital inputs and outputs• Analog Inputs• RS232 Serial Interface• RS485 Serial Interface• CANopen• DeviceNet• Profibus DP

Servo Drive Series E100/E1001

The Series E100 Servo Drive and powerful Se-ries E1001 are compact, one, two or four-axis position drives with 16-bit position resolution and integrated power elements.

The drives are suitable for simple and standard positioning tasks in the low to medium force ran-ge.

Motor Interfaces Connection to Machine Drive Process Interfaces

Servo Drives

E10

0/E

1001



The Servo Drives have two separate power supplies for the logic and power elements.

In an E-stop and safe stop of the drive, only the power element supply is cut off from the drive. The logic supply and the drive conti-nue to run.

This has the advantage that the drive and linear motor do not need to be reinitialized when the machine is restarted, since all process data, including the current position of the linear motor, are still up to date.

System IntegrationSeries E100/E1001 drives are suitable for cont-rolling linear motors that are operated without optional peripherals such as reference and end stop switches, external high-precision position sensors, or a holding brake.

Connection to the overlaid control is done via analog and digital signals, a serial connection, or fieldbusses.

The compact size is a great advantage of the Se-ries E100/E1001 Servo Drives, primarily for com-pound and multi-axis applications, with regard to installation space and effort.

Logic and Power Supply Servo Drive E400 in use Configuration

Parameterization and configuration of the Servo Drive is done via the RS232 interface on the front side.

The menu-drive Windows interface LinMot Talk is used for configuration, with which up to four Axis can be configured simultane-ously on one drive. LinMot Talk provides ex-tensive debugging tools, such as an oscilloscope and an error inspector, for sim-ple and rapid start-up of the Axis.

Series E100/E1001

RS232

DigitalI/O´s

RS232RS485

CAN-open

Device-Net

ProfibusDP

LogicSupply

MotorSupply

TriggerInputs

Sup

ply

Pro

cess

Inpu

tsC

onfig

.

AnalogInputs

LinmotServo DriveSeriesE100 / E1001

Position Drive:• 16 Bit Position Value• Resolution 20µm



Moves

Internal stored Curves:• Max. 64 Curves• Up to 4´000 set

points


Fmax = 200N

Fmax = 200N

Fmax = 200N

Fmax = 200N

E10

0/E

1001



Operating Modes

Absolute & Relative Positioning Commands

For direct position targets, using absolute or relative positioning, the desired position is reached according to acceleration and velocity-limited motion profiles (VA interpolator). Posi-tioning commands can be invoked via the serial interface, fieldbusses, ETHERNET, or the trig-ger input.

Stroke range: ±630mm Position Resolution: 20µm (16 Bit)Velocity Resolution: 1.0µm/s (16 Bit)Acceleration: 10.0µm/s (16 Bit)

Travel Along Time Curves

Up to 99 different time curves can be stored Series E1100 drives, with up to 16,000 individual waypoints. The motor can thus travel along time curves of any complexity, such as those gen-erated by CAD programs and stored in the drive (Excel CSV format). The time curves can be invoked via the serial interface, fieldbusses, ETHERNET, or the trigger input.

Stroke range: ±630mm Position Resolution: 20µm (16 Bit)Motion profiles: max. 64 curve profilesCurve points: max. 4’000points

Analog Position Target

For an analog position target, the linear motor travels to a position proportional to the input voltage. The position is continuously read. In order to prevent uncontrolled jumps in position, the motor travels to the positions with a programmable maximum acceleration and velocity (VA interpolator).

Inputs: 1 analog input per motor Voltage range: 0-10VDCResolution: 10 BitScanning rate: 800µsec

Time[ms]

Stroke [mm]

Goto 100mmvmax = 2,5m/samax = 3,0m/s2

Time[ms]

Stroke [mm]

Curve 1

Start Curve 1

0VPosition

10VPosition

E10

0/E

1001

2



Series E100/E1001

E10

0/E

1001

Trigger 2 Point

In the two-point trigger operating mode, two freely adjustable positions are controlled by the overarching drive, using a trigger signal.

One target value for the high level, and one for the low level of the digital input signal are stored in the drive electronics. If the signal at the drive electronics input changes, then the associated position is moved to at the programmed acceleration and speed.

Stroke range: ±630mm Position Resolution: 20µm (16 Bit)Velocity Resolution: 1.0µm/s (16 Bit)Acceleration: 10.0µm/s (16 Bit)

Master Slave Synchronization

Using master-slave synchronization, two linear motors can be synchronized via a serial com-munications connection between two drives, so that the overlaid drive can control them as a single axis.

Master Gantry Synchronization Master gantry synchronization is used for portal designs with two parallel Axis at different loca-tions.

Master Booster Synchronization Master booster synchronization is used to double the force when two motors are mechanically rigidly connected to each other.

Stroke[mm]

Pos 2

Pos 1

Trigger

Time [ms]

y

X1

X2

Internal Command Table Multi Trigger

With the Multi-Trigger-Table, up to 64 positions or independent travel commands can be stored on the drive and addressed directly or indirectly via 4 digital inputs.

Digital inputs: Max. 4Interface: Sys2Scanning rate: 800µsec

Command 1 Pos 125mmCommand 2 Pos 250mmCommand 3 Curve 1Command 4 Pos -30mmCommand 5 Pos +12,5mm......Command 64 Pos -12,5mm

2



E10

0/E

1001

Configuration

Start-up and Analysis ToolsUsing the LinMot Talk PC interface, LinMot Ser-vo Drives are configured. Additionally, the drives can be monitored during operation with the ma-chine running, and the current motion sequen-ces, as well as earlier warnings and error messages, can be analyzed in detail (monito-ring).

Simple InstallationFor start-up and monitoring, the Servo Drive is connected to a PC via the RS232 interface on the front, using a 9-pole D-sub connector (1:1 Connection). Up to four Axis on one drive can be configured and monitored at the same time using LinMot Talk.

Integrated DocumentationAfter installation of LinMot Talk on the PC is com-plete, all manuals and installation instructions are available via the Windows Start Menu. The user thus always has the current documentation available to him.

LinMot Talk

LinMot Talk configuration software is a Win-dows-based interface that supports the user du-ring start-up and configuration of the LinMot Series E100 and E1001 Servo Drives. The soft-ware has a powerful, modular, graphical inter-face that covers all the tasks surrounding the LinMot Servo Drive. Great emphasis was placed on a high level of user-friendliness during deve-lopment.

Using the "Parameter Inspector," the dri-ves are parameterized in a simple manner. The user has a wide range of adjustments available for operating modes, error ma-nagement, warning messages, and regula-ting parameters. Entire parameter sets can be stored, loaded, and printed out.

The "Curve Editor" allows creation of travel curves. In addition, existing curves can be loaded, stored, edited, combined, and prin-ted out. Further, complex motion sequen-ces can be generated as desired in MS Excel, and loaded into the drive.

The integrated oscilloscope helps the user during start-up and optimization of the

Parameterization Optimization Monitoring

drive system. Internal variables, such as the target and actual position, can be shown in real time on the screen, and then printed out. The displayed data can be stored in CSV format for further processing in MS Excel, or stored for documentation purposes.

Using the "Error Inspector," the user can read out stored errors, as well as the cur-rently active warnings and error messages in the LinMot Servo Drive. The last 10 error messages are stored in non-volatile memo-ry on the Servo Drive, together with the ope-rating hours counter.

Further, the states of the inputs and outputs can be viewed in the "Error Inspector." This allows rapid and uncomplicated checking of signals from and to the overlaid control.



1 Ph1+2 Ph1-3 Ph2+4 Ph2-5 +5VDC6 AGND7 SIN

8 COS9 TEMP10 SHIELD

Motor Supply72 (24..80) VDC

Logic Supply24 (22..50) VDC

5 GND9 CAN H

8 CAN L

7

6

4

3 RS232 Rx2 RS232 Tx1

1

10

RR

PWR+

PGND

+24VDCDGND

MOT

SUPP

LY

Sys2

COM

/ CON

FIG

Sys1

Moto

r D

-

+

(hex)

ID HIGH

ID LOWS2

S1

ABCD

EF012345

6789

ABCD

EF012345

6789

PE

1

10

Moto

r C

1

10

Moto

r B

1

10

Moto

r A

redpinkbluegreywhiteinner shieldyellowgreenblackouter shield

State

E4001-DN-ME

Interfaces

Motor B

Motor C

Motor D

Motor A

COM Interface

System Interface 1Profibus Address

VF-Interface

RS/CAN Bus Address

System Interface 2Profibus Interface

Supply Motor /Logic

E10

0-A

T

E10

01-A

T

E10

0-M

T

E10

01-M

T

E10

0-C

O

E10

01-

CO

E10

0-D

N

E10

01-D

N

E13

0-D

P

E10

31-D

P

Interface

System Interface 1

System Interface 2

Profibus Address

Profibus Interface

COM Interface

Supply Motor

Supply Logic

Supply Logic/Motor

Regeneration Resistor

Bus Address RS/CAN

Motor Connector DSUB-9

Motor Connector MC01-P

COM Interface

Profibus Address

Motor B

Motor C

Motor D

Motor A

Option Master Encoder

Option Master Encoder I/O’s

Motor Supply


E10

0/E

1001

Logic Supply

System Schnittstelle 1

System Interface 2Profibus Interface



Series E100/E1001E1001-AT and -MT Servo Drives offfer an ASCII protocol for serial communication over RS232 / RS484 with the overlaid control system.

The E100/E1001 drives have two indepen-dent serial interfaces for RS232 and RS485. If the Servo Drive communicates with the RS485 interface with the overlaid control, the RS232 interface may be used the same time for configuration and debug-ging with configuration software LinMot Talk.

Adjustable Baud rates: 9.6-115.2kBaud

The target position is provided by the over-laid control (PLC, industrial PC) as analog position signals, digital trigger signals, or directly via a serial interface.

End positions stored in the AT Servo Drive, or stored travel profiles, can be invoked using simple digital trigger signals.

The target position is provided as a voltage at the analog input of the Servo Drive. The position range associated with the voltage range at the analog input can be freely con-figured by the user.

Multi trigger Servo Drives allow direct pro-gramming of complex motion sequences, with up to 64 commands. The Servo Drive is actuated by the overlaid control via digi-tal signals.

The commands for the individual Axis are stored in the state table in the Servo Drive. The individual states in the table are cont-rolled by the overlaid control via digital sig-nal addressing. As soon as a state is invoked by the overlaid control, the Axis carry out their defined motion or defined command.

Absolute & RelativePositioning Commands


Trigger Mode: Two Point

Trigger Mode: Curves

Internal Multi Trigger Table (MT)


Master-Slave Synchronization

Option:Customer-Specific Functions (MT)

E100-AT E200-AT E400-AT E1001-AT E2001-ATE4001-AT

Analog Trigger Drive AT Multi Trigger Drive MT Serial Interface RS232/RS485

E100/E1001-AT/MT




5 GND9 CAN H

8 CAN L

7

6

4

3 RS232 Rx2 RS232 Tx1

1

10

RR

PWR+

PGND

MOT

SUPP

LY

COM

/ CON

FIG

Moto

r D

-

+

PE

1

10

Moto

r C

1

10

Moto

r B

1

10

Moto

r A


State


+24VDCDGND

(hex)

ID HIGH

ID LOWS2

S1

ABCD

EF012345

6789

ABCD

EF012345

6789

E4001-AT

Sys 2

Sys 1

E100-MTE200-MTE400-MTE1001-MTE2001-MT E4001-MT

Sys 1System Interface 1

Mot BMotor B

Mot CMotor C

Mot DMotor D

Mot AMotor A

ComCOM Interface

PWR MotorMotor Power Supply

Mot BMotor B

Mot CMotor C

Mot DMotor D

Mot AMotor A

PWRMotor/Logic Supply

RS/CAN Bus Address

ComCOM Interface




E1001, E2001, E4001-AT/MT

E100, E200, E400-AT/MT

Series E100/E1001-AT/MT




E10

0/E

100

1-A

T/M

T

PWR Logic Logic Supply



PWR E1001

MOTOR POWER SUPPLY48..72VDC

SIGNAL POWER SUPPLY24..48VDC

2-PHASE POWER STAGE 24...80VDC 8A PHASE CURRENT

RS232 PC CONFIG. INTERFACE

RS232 / RS 4859.6 kBaud COMMUNICATION

RS232RS485

COM

RS/CAN BUS ADDRESSID LOW ID HIGH

PWRSUPPLY E100 E100

MOTOR POWER SUPPLY24..48VDC

SIGNAL POWER SUPPLY24..48VDC

5...24VDC

WARNINGERRORPOS. ERRORMSG / OUT4OUT5OUT6STOP+STOP-FREEZE+FREEZE-DIGIN 5/6

DIGITAL SIGNALS:5V TTL, 24VDC

OVERARCHING CONTROLLER

ANALOG SIGNALS:0 ... 10V

TRIG/ANALOG IN 1TRIG/ANALOG IN 2 TRIG/ANALOG IN 3TRIG/ANALOG IN 4 RUN+RUN-INIT+INIT-GND

SYS2

REGENERATIONRESISTOR

SUPPLY E1001

E100-AT/MTE1001-AT/MT

ID

2-PHASE POWER STAGE 24...48VDC 3A PHASE CURRENT

SYS1 MOT A

MOT B

PH1+PH1-PH2+PH2-+5VGNDSINCOSTEMP

MOT C



LINEAR MOTOR APH1+PH1-PH2+PH2-+5VGNDSINCOSTEMP

LINEAR MOTOR B

LINEAR MOTOR C

LINEAR MOTOR D

MOT D

Analog- / Multi-Trigger

Item Description Part NumberE100-AT AnalogTrigger Drive 1 Axis (48V/3A) 0150-1601 E200-AT AnalogTrigger Drive 2 Axis (48V/3A) 0150-1602 E400-AT AnalogTrigger Drive 4 Axis (48V/3A) 0150-1604 E1001-AT AnalogTrigger Drive 1 Axis (72V/8A) 0150-2300 E2001-AT AnalogTrigger Drive 2 Axis (72V/8A) 0150-2301 E4001-AT AnalogTrigger Drive 4 Axis (72V/8A) 0150-2303

E100-MT Multi Trigger Drive 1 Axis (48V/3A) 0150-1611 E200-MT Multi Trigger Drive 2 Axis (48V/3A) 0150-1612 E400-MT Multi Trigger Drive 4 Axis (48V/3A) 0150-1614 E1001-MT Multi Trigger Drive 1 Axis (72V/8A) 0150-2304 E2001-MT Multi Trigger Drive 2 Axis (72V/8A) 0150-2305 E4001-MT Multi Trigger Drive 4 Axis (72V/8A) 0150-2307

E10

0/E

100

1-A

T/M

T



"Explicit Messaging" The DeviceNet Servo Drives support one "Explicit Messaging" connection per master.

"Polled IO"The master initiates data interchange with a "Polled IO" command.

"Change of State IO"With this connection, the data is transfer-red only if the states or values have chan-ged.

"Cyclic IO"With the "Cyclic IO" connection, the data is transferred strictly cyclically.

LinMot CO drives, with integrated CANo-pen interface, support the CiA DS301 com-munication profile.

The following CANopen resources are available on the CO drives: 1-5 T_PDO, 1-5 R_PDO 1 T_SDO, 1 R_SDO

The following protocols are supported by the CO drives: - Node Guarding - PDO acyclic with inhibit time - SDO Upload and Download - NMT (Start, Stop, Enter PreOp, Reset Node, Reset Communication) - Boot-Up Message

Series DN drives feature an integrated De-viceNet interface. With the DeviceNet inter-face, even complicated motion sequences can be realized with the highest possible flexibility.

The drive can be actuated and monitored via the DeviceNet connection. The fol-lowing expanded fieldbus functions are available:

- Direct target position - Invoke motion profiles - Read and write access to parameters - Monitoring internal parameters - Diagnosis





Internal Command Table



Option:Customer-Specific Functions

E100-CO E200-CO E400-CO E1001-CO E2001-COE4001-CO

CANopen DeviceNet

E100/E1001-CO/DN




5 GND9 CAN H

8 CAN L

7

6

4

3 RS232 Rx2 RS232 Tx1

1

10

RR

PWR+

PGND

MOT

SUPP

LY

COM

/ CON

FIG

Moto

r D

-

+

PE

1

10

Moto

r C

1

10

Moto

r B

1

10

Moto

r A


State


+24VDCDGND

(hex)

ID HIGH

ID LOWS2

S1

ABCD

EF012345

6789

ABCD

EF012345

6789

CO

Sys 2

Sys 1

E4001-CO

E100-DNE200-DNE400-DNE1001-DNE2001-DN E4001-DN


Mot BMotor B

Mot CMotor C

Mot DMotor D

Mot AMotor A

ComCOM Interface

PWR MotorMotor Power Supply

Mot BMotor B

Mot CMotor C

Mot DMotor D

Mot AMotor A


RS/CAN Bus Address

ComCOM Interface




E1001, E2001, E4001-CO/DN

E100, E200, E400-CO/DN

Series E100/E1001-CO/DN




E10

0/E

100

1-C

O/D

N




CANopen / DeviceNet

MOT A

5...24VDC

WARNINGERRORPOS. ERRORMSG / OUT4OUT5OUT6STOP+STOP-FREEZE+FREEZE-DIGOUT 5/6

DIGITAL SIGNALS:5V TTL, 24VDC


ANALOG SIGNALS:0 ... 10V

SYS1

TRIG/ANALOG IN 1TRIG/ANALOG IN 2 TRIG/ANALOG IN 3TRIG/ANALOG IN 4 RUN+RUN-INIT+INIT-GND

SYS2

LINEAR MOTOR A

E100-CO/DNE1001-CO/DN

MOT B

LINEAR MOTOR B

LINEAR MOTOR C

MOT C

LINEAR MOTOR D

MOT D

RS232 PC CONFIG. INTERFACE RS232 / RS 4859.6 kBaud COMMUNICATION

CAN: CANOPENDEVICENETmax. 500kBaud

RS232RS485CAN

342

COM

CAN BUS ADDRESSID LOW ID HIGH

ID

PWRSUPPLY E1001 E1001

MOTOR POWERSUPPLY48...72VDC

SIGNAL POWER SUPPLY24...48VDC

PWRSUPPLY E100 E100



2-PHASEPOWER STAGE 24...48VDC3A PHASE CURRENT







Item Description Part NumberE100-CO CanOpen Drive 1 Axis (48V/3A) 0150-1669 E200-CO CanOpen Drive 2 Axis (48V/3A) 0150-1670 E400-CO CanOpen Drive 4 Axis (48V/3A) 0150-1672 E1001-CO CanOpen Drive 1 Axis (72V/8A) 0150-2308 E2001-CO CanOpen Drive 2 Axis (72V/8A) 0150-2309 E4001-CO CanOpen Drive 4 Axis (72V/8A) 0150-2311

E100-DN DeviceNet Drive 1 Axis (48V/3A) 0150-1641 E200-DN DeviceNet Drive 2 Axis (48V/3A) 0150-1642 E400-DN DeviceNet Drive 4 Axis (48V/3A) 0150-1644 E1001-DN DeviceNet Drive 1 Axis (72V/8A) 0150-2312 E2001-DN DeviceNet Drive 2 Axis (72V/8A) 0150-2313 E4001-DN DeviceNet Drive 4 Axis (72V/8A) 0150-2315

E10

0/E

100

1-C

O/D

N



The front-side 9-pin DSUB bus connector meets the PROFIBUS standard. It provides power for an external bus termination. A positive directional control signal is provi-ded to control repeaters or optical fibers.

All signals on the PROFIBUS connector are galvanically separated.

The PROFIBUS-DP address is set by two hex code switches (ID1 and ID2). All addresses permitted by the standard are supported (0..125).

Series DP Servo Drives feature an integra-ted PROFIBUSDP interface. PROFIBUS-DP provides the user with a standardized fieldbus interface for rapid data inter-change between the Servo Drive and the overlaid control.

With cyclical provision of target positions and other process data, the Profibus drives are the ideal solution for applications with motions and sequences that change fre-quently, such as are required, for example, in flexible machines and systems for rapid format changes.

The Profibus interface supports all Baud rates from 9.6 Kbits/s to 12 Mbit/s. The ma-ximum net data quantity exchanged in cyc-lical data traffic is 64 bytes per cycle. The smallest achievable bus cycle time is 100 µs. The structure and scope of cyclical data can be collected from any individual data modules into an overall data quantity when planning the system, whereby the data for the individually connected motors can be different.

A GSD device master file is provided for open planning in conformance with the standard.





Internal Command Table



Option:Customer-Specific Functions

E130-DP E230-DP E430-DP E1031-DP E2031-DPE4031-DP

Profibus DP

E130/E1031-DP




5 GND9 CAN H

8 CAN L

7

6

4

3 RS232 Rx2 RS232 Tx1

1

10

RR

PWR+

PGND

MOT

SUPP

LY

COM

/ CON

FIG

Moto

r D

-

+

PE

1

10

Moto

r C

1

10

Moto

r B

1

10

Moto

r A


State


+24VDCDGND

(hex)

ID HIGH

ID LOWS2

S1

ABCD

EF012345

6789

ABCD

EF012345

6789

PROF

IBUS

DP

E4001-DP

E4001-MT

Mot BMotor B

Mot CMotor C

Mot DMotor D

Mot AMotor A

ComCOM Interface

PWR MotorMotor Power Supplyen

Mot BMotor B

Mot CMotor C

Mot DMotor D

Mot AMotor A


ComCOM Interface

DPProfibus Interface

IDProfibus Bus Address

E1031, E2031, E4031-DP

E130, E230, E430-DP

IDProfibus Bus Address

DPProfibus Interface

Series E130/E1031-DP




E10

0/E

100

1-D

P




Profibus DP

MOT A

LINEAR MOTOR A

E130-DPE1031-DP

MOT B

LINEAR MOTOR B

LINEAR MOTOR C

MOT C

LINEAR MOTOR D

MOT D

ID HIGH

ID LOW

RS232 PC CONFIG. INTERFACE RS232 / RS 4859.6 kBaud

RS2323

COM

PROFIBUS DPCOMMUNICATIONmax. 12MBaud

PROFIBUS ID

DP5

PWRSUPPLY E1031 E1031



PWRSUPPLY E130 E130



-PHASEPOWER STAGE 24...48VDC3A PHASE CURRENT







Item Description Part NumberE130-DP Profibus DP Drive 1 Axis (48V/3A) 0150-1621 E230-DP Profibus DP Drive 2 Axis (48V/3A) 0150-1622 E430-DP Profibus DP Drive 4 Axis (48V/3A) 0150-1624 E1031-DP Profibus DP Drive 1 Axis (72V/8A) 0150-2316 E2031-DP Profibus DP Drive 2 Axis (72V/8A) 0150-2317 E4031-DP Profibus DP Drive 4 Axis (72V/8A) 0150-2319

E10

0/E

100

1-D

P



The connection cable to the Servo Drive and the plug-type screw terminals are available as a set.

The Break Out Module is available in two versions, with a digital or analog interface.

The Break Out Module is snapped onto the DIN rail directly in the electrical enclosure.Two tabs for screw mounting are also in-cluded.

- Plug-type screw terminals for all inputs and outputs

- Digital inputs, galvanically isolated, (24V/10mA)

- Digital outputs, galvanically isolated, (24V/0.5A)

- Relay output (48V/2A, max. 60W)

- LED status indicator for all inputs and outputs

- Analog input voltage -10…+10V for analog module.

Break Out Modul

Break Out ModuleThe Break Out Module for the AT and MT Servo Drives leads all input and output signal from the SYS1 and SYS2 DSUB connectors to plug-type screw terminals.

Break Out Module Features: Cable & Connector Set

Break Out Module

126 mm

48 m

m

Bre

ak O

ut

Mo

du

l



M01-analog/-digital

M01-DIGITAL

OUT 2OUT 3

OUT 4OUT 5

OUT 6

OUT 1

+ 24V+ 24V

+ 5V

Out1

+ 5V

J4

R C

lose

rR

Ope

ner

R In


SYS1

SYS1

In+

Out-

+ 5V

+ 5V

TRIG IN 2TRIG IN 3

TRIG IN 4

TRIG IN 1

RUN-

RUN+RUN

INITFREEZE

STOP

GalvanicallyIsolatedon LinMotServo Controller

J3

GND+24VOUT1OUT2OUT3OUT4OUT5OUT6GNDR_OPENERR_INR_CLOSER

11

J2

RUN+RUN-INIT+INIT-FREEZE+FREEZE-STOP+STOP-

8

LINMOT SERVOCONTROLLER

SYS1

SYS2

15

9

AGNDGND+24VIN1+IN1-IN2+IN2-IN3+IN3-IN4+IN4-

11

J1

M01-ANALOG

OUT 2OUT 3

OUT 4OUT 5

OUT 6

OUT 1

+ 24V+ 24V

+ 5V

Out1

+ 5V

J4

R C

lose

rR

Ope

ner

R In


SYS1

SYS1

TRIG IN 2TRIG IN 3

TRIG IN 4

TRIG IN 1

RUN-

RUN+RUN

INITFREEZE

STOP

GalvanicallyIsolatedon LinMotServo Controller

J3

GND+24VOUT1OUT2OUT3OUT4OUT5OUT6GNDR_OPENERR_INR_CLOSER

11

J2

RUN+RUN-INIT+INIT-FREEZE+FREEZE-STOP+STOP-

8

LINMOT SERVOCONTROLLER

SYS1

SYS2

15

9

AGNDGND+24VIN1+IN1-IN2+IN2-IN3+IN3-IN4+IN4-

11

J1

+

-- 1

/2

+ 5V

Item Description Part NumberM01-digital Breakout Module digital 0150-1932 M01-analog Breakout Module analog 0150-1933 M01-Connector Cable and Connector set 0150-1934

Bre

ak O

ut

Mo

du

l



LOGIC SUPPLY 24V

GND

22...50VDC

GND1

2

3

GND internally connected to controller housing

Internal Fuse 3AT

RR -

RR +

PWR +

PGND

GND internally connectedto controller housing

Optional:external Regeneration ResistorRR01-10/60

1

2

3

4

1

2

3

4

RR

PWR+

PGND

-

+

GND

24...80VDC

GND

2

1

Interfaces

Supply

Supply Voltage Logic: 24...48VDC (absolute max. Rating 48VDC + 10%)Supply Voltage Motor: 24...48VDC (absolute max. Rating 48VDC + 10%)

Motor Supply GND must be externally connected to earth

- By exceeding 52VDC supply voltage, the drive will go into error state.- Power supply connectors must not be connected or disconnected while DC voltage is present.

PWR SIGNAL +

GND

PWR MOTOR +

24...48VDC

GND

24...48VDC

1

2

3

1

2

3

Internal Fuse

GND internally connectedto controller housing

500mAT

Internal Fuse10AT

Supply GND must bebe externally connectedto earth (Ground Bus)

E100 Supply Motor/Logic

Supply:

Supply Voltage Logic: 24...80VDC (absolute max. Rating 92VDC)Supply Voltage Motor: 48...72VDC (absolute max. Rating 72VDC + 5%)

Motor and Logic Supply GND must be externally connected to earth

- By exceeding 92VDC motor supply voltage, the drive will go into error state.- By exceeding 52VDC logic supply voltage, the drive will go into error state.- Power supply connectors must not be connected or disconnected while DC voltage is present.- It is recommended that the motor and the logic be supplied and controlled separately.

Power Connector Logic/Motor

1.5 mm² (AWG16)

E1001 Supply Motor/Logic

Screw Terminals2.5 mm² (AWG14)

Phoenix MC1,5/2-STF-3.81 0.25-1.5mm² (AWG24-16)

E10

0/E

1001



Motor Cable

- Use only special double-shielded Linear Motor Cable (see motor accesories).- LinMot offers a wide range of preassambled motor cable in standard and custom length (tested 1.5kV): Standard Cable K05-... High-Flex Cable KS05-... Robot-Cable KR05-...

- Do NOT connect AGND (Pin 6) to ground or earth!- Inner shield (AGND) and outer shield (earth) must be isolated to each other.- Use +5V (Pin 3) and AGND (Pin 6) only for motor internal Hall Sensor supply (max. 100mA).

- Wrong Motor wiring may damage Linear Motors and/or Servo Drive. If you are assembling motor cables by your own, double check motor wiring carefully before power up.

- Do not connect or disconnect the motors from drives with voltage present. Wait to connect or disconnect motors until all LinMot drive LED’s have turned off.

Series E100/E1001

6

7

8

9

PHASE 1+

PHASE 1-

PHASE 2+

PHASE 2-

+5VDC

AGND

SINE

COSINE

TEMP.

RED

PINK

BLUE

GREY

WHITE

INNER SHIELD

YELLOW

GREEN

BLACK

GND

GND

GND

+5VDC

Outer shield connected to connector housing

2k2

2k2

10k

61

2

3

4

5

7

8

9

1

2

3

4

5

Mot A (B, C, D) Motor connector E100

DSUB-9 (f)

Motor Cable

PHASE 1+

PHASE 1-

PHASE 2+

PHASE 2-

+5VDC

AGND

SINE

COSINE

TEMP.

RED

PINK

BLUE

GREY

WHITE

INNER SHIELD

YELLOW

GREEN

BLACK

+5VDC

GND

GND

GND

+5VDC


2k2

2k2

10k

1

2

3

4

5

6

7

8

9

10

2

1

3

4

5

7

8

9

10

6

Mot A (B, C, D) Motor connector E1001

MC01-P/f Motor Cable

E10

0/E

1001



Interfaces

WARN OUT

ERROR OUT

POS ERROR / DIG OUT 3

MSG / DIG OUT 4

DIG OUT 5

DIG OUT 6

EMERGENCY STOP +

EMERGENCY STOP -

FREEZE +

FREEZE-

DIG IN 5

DIG IN 6

DO NOT CONNECT!

OUTPUT +5V (max 50 mA)

GND GND

5V

100k

100k

1

2

3

4

5

11

12

13

14

15

5...24VDC

14

13

11

12

10

6

2

1

3

7

4

8

9

5

15

SYS1 System interface 1

DSUB-15 (f)

Control Inputs: Stop (active low) / Freeze (active high) Optical isolated inputs (Input voltage: 0 …. 24V) - for logical zero: input voltage < 2V - for logical one: input volateg > 3.5V Input current: < 20 mA (internally limited to 20 mA) Update rate: 1.6 msDigital Inputs: Dig In 5 / Dig In 6 24VDC inputs, input resistance 100kOhm - for logical zero: input voltage < 2V - for logical one: input volateg > 3.5VDigital Outputs: Pos Error Out / MSG / Error Out / Warn Out / Dig Out 5 / Dig Out 6 Open Collector max 24V / 50 mA Typical pull-up Resistor R:for V+ = 5V supply: R=150 Ohm/0.25 W

for V+=24V supply: R=820 Ohm / 1W

6

7

8

9

TRIG/ANLOG IN 1

TRIG/ANLOG IN 2

TRIG/ANLOG IN 3

TRIG/ANLOG IN 4

RUN +

RUN -

INT +

INT -

GND

GND

GND

GND

GND

GND

100k

100k

100k

100k

95

4

3

2

1

8

7

6

1

2

3

4

5

SYS2 System interface 2

DSUB-9 (m)

Digital/Analog Input: Trig/Analog IN Input can be used as analog inputs between 0 … 10V (10 bit resolution) input resistance 100kOhm or digital inputs (max. 24V, input resistance 100kOhm) for logical zero <2V,

for logical one >3.5VControl Inputs: RUN (active high) / INIT (active high) Optical isolated 24V inputs Input voltage: 0 …. 24V for logical zero <2V for logical one >3.5VInput current: < 20 mA (internally limited to 20 mA)Update rate: 1.6 ms

E10

0/E

1001



Series E100/E1001

6

7

8

9

RS485_TX+

RS485_RX-

RS232_TX

RS485_TX-

RS232_RX

CAN_L

RS485_RX+

CAN_H

GND

RS485_TX+

RS485_RX-

RS232_TX

RS485_TX-

RS232_RX

CAN_L

RS485_RX+

CAN_H

GND100

95

4

3

2

1

8

7

6

1

2

3

4

5

COM Com interface

DSUB-9 (m)

RS232: Configuration on all Drives: use 1:1 connection cable to PC

6

7

8

9

+ 5 V (ISOLATED)

RxD/TxD-P

RxD/TxD-N

CNTR-P

GND (ISOLATED)

61

2

3

4

5

7

8

9

1

2

3

4

5

DP Profibus DP interface

DSUB-9 (f)

Isolated 5V output: max 50 mA

Ready Green:READY: The system has started correctly

Stat A Yellow:STAT A : Coding for the actual operating stateThe display of the various operating states is shown on the last page of this manual.

Stat B Yelllow:STAT B: Coding for the actual operating stateThe display of the various operating states is shown on the last page of this manual.

Fault Red:FAULT: An error has occurred (In the state ERROR a blink code of the STAT LEDs A and B tells what the actual error is.The blink codes are explained in chapter ‘Service’of the user Manual.)

Green

LED State display E100

Yellow

Yellow

Red

8 Segement DisplayOutput of operating states and error codes

DISPLAY State display E1001

E10

0/E

1001



Accessories E100/E1001

Switched-Mode Power Supplies

Item Description Part NumberS01-48/300 Switched-Mode Power Supply 48V/300W for Drive Series E100 0150-1941S01-48/600 Switched-Mode Power Supply 48V/600W for Drive Series E100 0150-1946S01-72/500 Switched-Mode Power Supply 72V/500W for Drive Serie E1001 0150-1874S01-72/600 Switched-Mode Power Supply 72V/600W for Drive Serie E1001 0150-1943S01-72/1000 Switched-Mode Power Supply 72V/1000W for Drive Serie E1001 0150-1872SM01-300 Mounting part for 300W Switched-Mode Power Supply 0150-3040SM01-600 Mounting part for 600W Switched-Mode Power Supply 0150-3041

Transformer Supply T01 for E1001 3x230/280/400/480VAC

Item Description Part NumberT01-72/420...1500-Multi Transformer Supply 3x230/280/400/480VAC, 50/60Hz, 420...1500W see page 536

E10

0/E

1001

Acc

esso

rie

s

SPH500-7207

SPH500-7207

CSA 22.2-60950CSA 22.2-107UL 60950UL 508SPH1013-7214



Accessories E100/E1001

COM connection cables and USB-converter

Item Description Part NumberRS232 PC config. cabel 2m for E100/E1001 0150-3009RS232 PC config. cabel 2m for E100/E1001/E1100/B1100 0150-3307RS232 PC config. cabel 2.5m for E1200/E1400 0150-2143USB-Serial Converter USB to 9-pin Serial Converter 0150-3110

Control Box B01-04

Item Description Part NumberB01-04 230VAC/50Hz Control Box for E100/E1001-AT/MT (230VAC, incl. cable and connectors) 0150-1930B01-04 115VAC/60Hz Control Box for E100/E1001-AT/MT (115VAC, incl. cable and connectors) 0150-1931

E10

0/E

1001

Acc

esso

rie

s



Dimensions

194

176

210

55

70

119

COM / CONFIG

5 GND 9 CAN H

4 RS485 Rx+

8 CAN L

3 RS232 Rx

7 RS485 Tx-

2 RS232 Tx

6 RS485 Rx-

1 RS485 Tx+

+24VDC

DGND

(hex)

ID HIGH

ID LOWS2

S1ABC

DE

F01234567

89

ABCD

E

F01234567

89

State Description:

- Firmware Stopped

0 Wait for Disable

1 Disable (Init not done)

2 Disable (Init done)

7 Emergency Stop

8 Run

9 Init

Exxx Error

Sys

2 / D

PL

og

ic S

up

ply

315

296

330

58

178

Dimensions in mm

Centers

Centers

E100 E200 E400 E1001 E2001 E4001

Interfaces

Width mm 70 58

Height mm 210 330

Height without fixings mm 175 296

Depth mm 120 178

Weight kg 1.1 1.2 1.3 2. 5 2.6 2.7

Protection Class IP 40 40

Storage Temperture °C -25..70 -25..70

Operating Temperature °C 0..50 0..50

Max. Case Temperature °C 65 65

Max. Power Dissipation W 22 38 70 80

Distance between Drives mm 50 50

E10

0/E

1001



Ordering Information

Item Description Part NumberE100-AT AnalogTrigger Drive 1 Axis (48V/3A) 0150-1601 E200-AT AnalogTrigger Drive 2 Axis (48V/3A) 0150-1602 E400-AT AnalogTrigger Drive 4 Axis (48V/3A) 0150-1604 E1001-AT AnalogTrigger Drive 1 Axis (72V/8A) 0150-2300 E2001-AT AnalogTrigger Drive 2 Axis (72V/8A) 0150-2301 E4001-AT AnalogTrigger Drive 4 Axis (72V/8A) 0150-2303

E100-MT Multi Trigger Drive 1 Axis (48V/3A) 0150-1611 E200-MT Multi Trigger Drive 2 Axis (48V/3A) 0150-1612 E400-MT Multi Trigger Drive 4 Axis (48V/3A) 0150-1614 E1001-MT Multi Trigger Drive 1 Axis (72V/8A) 0150-2304 E2001-MT Multi Trigger Drive 2 Axis (72V/8A) 0150-2305 E4001-MT Multi Trigger Drive 4 Axis (72V/8A) 0150-2307

E130-DP Profibus DP Drive 1 Axis (48V/3A) 0150-1621 E230-DP Profibus DP Drive 2 Axis (48V/3A) 0150-1622 E430-DP Profibus DP Drive 4 Axis (48V/3A) 0150-1624 E1031-DP Profibus DP Drive 1 Axis (72V/8A) 0150-2316 E2031-DP Profibus DP Drive 2 Axis (72V/8A) 0150-2317 E4031-DP Profibus DP Drive 4 Axis (72V/8A) 0150-2319

E100-DN DeviceNet Drive 1 Axis (48V/3A) 0150-1641 E200-DN DeviceNet Drive 2 Axis (48V/3A) 0150-1642 E400-DN DeviceNet Drive 4 Axis (48V/3A) 0150-1644 E1001-DN DeviceNet Drive 1 Axis (72V/8A) 0150-2312 E2001-DN DeviceNet Drive 2 Axis (72V/8A) 0150-2313 E4001-DN DeviceNet Drive 4 Axis (72V/8A) 0150-2315

E100-CO CanOpen Drive 1 Axis (48V/3A) 0150-1669 E200-CO CanOpen Drive 2 Axis (48V/3A) 0150-1670 E400-CO CanOpen Drive 4 Axis (48V/3A) 0150-1672 E1001-CO CanOpen Drive 1 Axis (72V/8A) 0150-2308 E2001-CO CanOpen Drive 2 Axis (72V/8A) 0150-2309 E4001-CO CanOpen Drive 4 Axis (72V/8A) 0150-2311

E10

0/E

1001



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Servo Drives

Servo Drive E1100

Series E1100-RS/-DN/-CO 356

Series E1130-DP 358

Series E1100-GP 360

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Servo Drives

Servo Drive E1100

Series E1100 Servo Drives are modular axis dri-ves, with 32-bit position resolution and an integ-rated power element, for linear motors and rotary drives.

The drives are suitable for simplest, standard, and high-end positioning tasks, across the entire force range of the LinMot product range.



This has the advantage that the drive and li-near motor do not need to be reinitialized when the machine is restarted, since all pro-cess data, including the current position of the linear motor, are still up to date.

The Series E1100 Servo Drives can be actuated by machine controls from any manufacturer or brand, via digital inputs and outputs, RS232 or RS485 serial inter-face, CanBus CANopen and DeviceNet interfaces, Profibus DP.

For complex motion sequences that are run in an overlaid position drive, B1100 small servo amplifiers are available, with analog velocity or force control and enco-der simulation.

Fast process interfaces for direct proces-sing of sensor signals are available as freely programmable analog and digital inputs, a fast trigger input, and a capture input.

The safe pulse inhibitor on Servo Drive with fieldbus interfaces allows safe stoppage of the drives via control signals, perEN 954-1, without interrupting the power supply.

Connection to Machine Drive Process and Safety Interfaces Logic and Power Supply

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System IntegrationFlexible hardware enables control of any 1/2/3-phase motors. Thus, low-power rotary servomo-tors, such as brushless DC motors, can be inte-grated in the same controls concept.

Additionally, the drives can be equipped with op-tional peripherals, such as reference and end stop switches, high-precision external position sensors, or a mechanical holding brake.

Series E1100 Servo Drives have analog and di-gital inputs and outputs, serial interfaces, fieldbu-sses. The user is therefore not dependent on the selection of the overlaid drive. An appropriate in-terface is available, with associated protocols, for any PLC or IPC solution.

With flexibility and a compact form factor, LinMot Series E1100 Servo Drives provide a complete solution for a flexible drive concept in single and multiple axis applications, with linear motors and other actuators.

Technology FunctionsTechnology functions are functional blocks that provide a complete solution for standard applica-tions and frequently encountered, customer-spe-cific problems. Technology functions can, for example, handled the complete sequence for winding textile yarns or glass fiber cables, or high-precision joining processes with force con-trol can be implemented directly in the drive.

Series E1100


DigitalI/O´s

RS232RS485

CANopen

Device-Net

ProfibusDP

MasterEncoder

Out

RS232CAN

Syn

ch.

MasterEncoder

In Syn

ch.

CAN

Limit - Switch

Home Switch

Limit + Switch

For synchronization to a mechanical mas-ter shaft, or a rotating main drive, the Axis (linear motors and rotary motors) can be coupled to an electronic main shaft via the Master Encoder Interface.

The encoder signal from the main shaft can be passed through by the Master Encoder Interface, so that any number of linear mo-tors can be synchronized to the main shaft.

Option: Master Encoder Module Motor Interfaces Configuration

E1100 Servo Drives provide all necessary interfaces to operate linear or rotary motors with optional external peripherals, such as end position and reference switches, a me-chanical brake, or a high-resolution exter-nal position sensor.

In special applications, two drives can be synchronized with each other using the synchronization interface in master booster or master gantry mode.

Parameterization and configuration of the Servo Drive is done via the RS232 interface on the front side, or CANBus for simultane-ous configuration of several drives.

LinMot Talk user-friendly PC software is available for configuration. In addition to on-line documentation, LinMot Talk provides extensive debugging tools, such as an oscilloscope and an error inspector, for sim-ple and rapid start-up of the Axis.

Fieldbus drives can also be configured di-rectly by the overlaid control.

LogicSupply

MotorSupply

TriggerInputs



Optional Brake

Sup

ply

and

Sa

fety

Fas

t P

roze

ss In

puts

Con

fig.

AnalogInputs

LinmotServo DriveSeriesE1100






Internal stored Curves:• Max. 99 Curves• Up to 15´000

set points

Command Table:• Up to 255

Commands

Regener-ation

Resistor


Capture

Con

fig.



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Time Curves


Stroke range: ±100m Position Resolution: 0.1µm (32Bit)Motion profiles: Max. 99 Time CurvesCurve points: Max. 16’000 points

Operating Modes

Interpolated Moves

For direct position targets, using absolute or relative positioning, the desired position is reached using acceleration and velocity-limited motion profiles or jerk optimized Bestehorn profiles. Positioning commands can be invoked via the serial interfaces, CANopen, DeviceNet, Profibus or a trigger input.

Stroke range: ±100m Position Resolution: 0.1µm (32Bit)Velocity Resolution: 1.0µm/s (32Bit)Velocity Resolution: 10.0µm/s (32Bit)

Profiled Moves

For travel to an absolute position, or shifting by a relative position, any desired motion rules can be stored besides the VA interpolator. They are stored in the drive as motion profiles (Excel CSV format). The positions can be approached, for example, with a sinusoidal motion to optimize power loss, or special reverse optimized motion profiles.

Stroke range: ±100m Position Resolution: 0.1µm (32Bit)Motion profiles: Max. 99 BewegungsprofileCurve points: Max. 16’000 Punkte

Time[ms]

Stroke [mm]


Time[ms]

Stroke [mm]

Curve 1

Time[ms]

Stroke [mm]

Curve 1

Start Curve 1

Goto Pos 125mmwith Profil 1

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2

Setpoint Streaming

Overlaid NC drives with fieldbus interfaces communicate with the Servo Drives via "Position Streaming". The position and velocity calculated in the overlaid control is transmitted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission.

Position Resolution: 32 BitVelocity Resolution 32 BitInterpolator: 3 kHzcycle times: 2-5msTime[ms]

Stroke [mm]



Series E1100

Master Encoder Synchronization (MT)

For synchronization to an external main or master shaft, the linear motor travels along the motion profiles stored in the drive, at the machine speed (machine angle 0…360°). Using this function, mechanical cam discs can be replaced with highly dynamic linear motors. The motion profiles can be freely defined, and the correct motion profile can be invoked during product changeover with no changeover time.

Motion profiles Max. 99 curve profiles Curve points: Max. 16’000 points Encoder Counter: 32 BitEncoder Input: A/B/Z (RS422)Max. counting frequency Max. 4.5 MHz

Belt Synchronization

Synchronization to a belt speed can be done using the Master Encoder Interface or Step/Direc-tion/Zero interface. Applications such as the "flying saw", synchronous loading or unloading, synchronous filling or labeling of bottles or containers on a conveyor belt, and many other applications can be implemented in this way.

Encoder Counter: 32 BitEncoder Input: A/B/Z (RS422), max. 5 MHz

STEP/DIR/ZEROMax. counting frequency Max. 4.5 MHz

Command Table

Entire motion sequences with up to 256 individual motion commands can be stored in the Command Table. This is primarily advantageous if complete motion sequences need to be executed very quickly, without dead time from the overlaid drive. In the Command Table, the programmer has access to all motion commands, internal parameters, and digital inputs and outputs.

Commands: max. 256Cycle time: 330µsec

Time[ms]

Stroke [mm]

Curve 1

0° 90° 180° 270° 360°

Time[ms]

v [m/s]

counts/secvBelt

Wait Input

Terminate A

Pos 12mm

Rule 1

Start

Stop

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Easy Steps

With the Easy Steps function, up to 8 positions or independent travel commands can be stored on the drive, and addressed via 8 digital inputs or fieldbus interfaces/ETHERNET.

Digital inputs: max. 8Interface: X4Resolution: 10 BitScanning rate: 330µsec

Input 1 Pos 125mmInput 2 Pos 250mmInput 3 Curve 1Input 4 Pos -30mmInput 5 Pos +12,5mmInput 6 Curve 2Input 7 Pos 2mmInput 8 Pos -12,5mm



Operating Modes

Master-Gantry Synchronisation Master-Gantry Synchronisation


Master Gantry Synchronization Master gantry synchronization is used for portal designs with two parallel Axis at different loca-tions.

y

X1

X2

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Master-Booster Synchronisation Master-Booster Synchronisation


Master Booster Synchronization Master booster synchronization is used to double the force when two motors are mechanically rigidly connected to each other.

y

X1

X2

Analog Position

For an analog position target, the linear motor travels to a position proportional to the input voltage. The position is either scanned continuously, or only after a rising edge of the trigger signal. In order to prevent uncontrolled jumps in position, the motor travels to the positions with a programmable maximum acceleration and velocity (VA interpolator).

Inputs: Analog Input (X4.4)Voltagvte range: 0-10VDCResolution: 10 BitScanning rate: 330µsec

0VPosition

10VPosition

Position Indexing

In position indexing, the linear motor is controlled like a stepper motor, using Step/Dir/Zero, or A/B/Z signals. The step distance is freely programmable from 1.5x10-6µm to 3.275mm./ step. The input signal can be used directly as the target position, or it can be filtered by the VA inter-polator.

Operating Modes: Step/Dir/Zero, A/B/Z Inputs: differential RS422 (X10)Step distance: 1.5x10 µm....3.275mm, 32 BitMax. counting frequency: 4.5 MHz

STEP

DIR

ZERO

A

B

Z

-6



Series E1100

Winding Application

For winding textile yarns, glass fiber optics, or wires, a complete functional block is available that controls the entire sequence of a complete winding process.


Using the Force Control technology function, precise joining processes can be implemented reliably and reproducibly with high-precision force control. For force control, the current motor force is measured with a load cell and controlled in the drive. Joining process or quality checks with high requirements for applied force can be implemented.

Analog Input: 0-10VResolution: 10 BitMin. Force Resolution: 0.1N

FMot= 0,1...580N

Load Cell

0...10V Fone

Easy Steps Parameter Scale

Easy Steps provide the ability to parameterize internal parameters using two analog inputs. If, for example, the maximum motor current is read at an analog input, then the maximum motor force can be provided as analog for freely programmable joining processes.

Inputs: 2 x Analog (X4.4, X4.7)Voltage range: 0-10VDCResolution: 10 BitResolution 330µsec

Force Max

Time[ms]0%

100%

Maximum Force [0...10V => 0...100%]

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Configuration

Using the "Parameter Inspector," the dri-ves are parameterized in a simple manner. The user has a wide range of adjustments available for operating modes, error ma-nagement, warning messages, and regula-ting parameters. Entire parameter sets can be stored, loaded, and printed out.

The "Curve Inspector" allows creation of motion profiles. In addition, existing curves can be loaded, stored, edited, combined, and printed out. Further, complex motion sequences can be generated as desired in MS Excel, and loaded into the drive.

Start-up and Analysis ToolsUsing the LinMot Talk PC interface, LinMot Ser-vo Drives are configured. Additionally, the drives can be monitored during operation with the ma-chine running, and the current motion sequen-ces, as well as earlier warnings and error messages, can be analyzed in detail (monito-ring).

LinMot Talk

LinMot Talk configuration software is a Win-dows-based interface that supports the user du-ring start-up and configuration of the LinMot Servo Drives. The software has a powerful, mo-dular, graphical interface that covers all the tasks surrounding the LinMot Servo Drive. Great em-phasis was placed on a high level of user-friend-liness during development.

In addition to start-up, LinMot Talk can also be used for training purposes and for actuation via serial interfaces, fieldbusses, or industrial ETHERNET. Using the integrated Control Panel, the user has direct access to control and status words, as well as all commands that are invoked for operation by the overlaid control. The user learns the meaning of the control and status words easily, and can get to know the individual commands in the Motion Command Interface.

Parameterization Optimization Monitoring

Single or Multiple Axis ConfigurationFor start-up and monitoring, the Servo Drive is connected to a PC via the RS232 interface on the front or via CAN Bus. If the connection to the PC is made via USBSCAN converter (see acces-sories,) then up to 16 Axis can be configured and monitored simultaneously.

The integrated 8-channel oscilloscope helps the user during start-up and optimi-zation of the drive system. Internal variab-les, such as the target and actual position, can be shown in real time on the screen, and then printed out. The displayed data can be stored in CSV format for further pro-cessing in MS Excel, or stored for docu-mentation purposes.

The user has many tools available for mo-nitoring and analysis of the drive. Both cur-rent warnings and fault messages, and older fault messages stored in non-volatile memory, state changes, and many other pieces of information can be obtained.

Internal variables, drive parameters, in-puts, and outputs can be combined as desired and display cyclically.

Using the oscilloscope, internal parame-ters can be charted when warning and fault messages occur.

Online Help & DocumentationUsing the multilingual Online Help, the user can find useful information about the individual para-meters and their functionality. All manuals and installation instructions can then be called up on the PC, after LinMot Talk is installed, via the Win-dows Start Menu, or they can be directly genera-ted in HTML format.

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RR

PWR+

PGND

SCRN

1* Ph 1+ u2* Ph 2+ w3 +5VDC4 SIN5 TEMP6* Ph 1- v7* Ph 2- x8 AGND9 COS

*=X3 ratin 5A RMS

X4.12 SVEEnable=24VX4.11X4.10X4.9

X4.8

X4.7

X4.6

X4.5

X4.4

X4.3 /Brk+24VDCDGND

ERROR24VOK

EN

WARN

ID HIGH

ID LOW

1 RS485 Tx+2 RS232 Tx3 RS232 Rx4 RS485 Rx+5 GND6 RS485 Rx-7 RS485 Tx-8 CAN L9 CAN H

Supply:Logic: 24 (22..26) VDCMotor: 72 (24..80) VDC

12

1

X11+ u

1- v

2+ w

2- x

X2

X3

X4

S2

X5

S1

MO

T S

UP

PLY

MO

T P

HA

SE

SM

OT

OR

LO

GIC

SU

PP

LY /

CO

NT

RO

LC

OM

/ C

ON

FIG

-

+

ABCD

EF012345

67

89

ABCD

EF012345

67

89

E1100

E11

00-R

S

E11

00-C

O

E11

00-D

N

E11

00-D

P

E11

00-G

P

Interfaces

X1 Motor SupplyRegeneration Resistor

X2 Motor Phases

X3 Motor Connector

X4 Control / Logic Supply

X5 COM Interface RS232RS485CAN

X6 Digital I/O

X7 RS485 / CAN In

X8 RS485 / CAN Out

X9 Profibus Interface

X10 Master Encoder In

X11 Master Encoder Out

X12 External Encoder (D-Sub 9)

X13 External Encoder (D-Sub 15)

LED State Display

S1 Bus Address RS/CAN/ETH High

S2 Bus Address RS/CAN/ETH Low

S3 Bus Termination

Interfaces

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X1: Motor SupplyRegenerator Resistor

X2: Motor Phases

X3: Motor Connector

X4: ControlLogic Supply

LED State Display

S1-2: Bus AddressRS/CAN/Profibus

X5: Com Interface

S3: Bus TerminationX6: Digital I/O

X7: RS485 / CAN In

X8: RS485 / CAN Out

X10: Master Encoder In

X11: Master Encoder Out

X12: External Encoder

X9: Profibus Interface



E1100-RS/-DN/-CO

RR

PWR+

PGND

SCRN


*=X3 ratin 5A RMS


X4.8

X4.7

X4.6

X4.5

X4.4

X4.3 /Brk+24VDCDGND

ERROR24VOK

EN

WARN

ID HIGH

ID LOW



12

1

X11+ u

1- v

2+ w

2- x

X2

X3

X4

S2

X5

S1

MO

T S

UP

PLY

MO

T P

HA

SE

SM

OT

OR

LO

GIC

SU

PP

LY /

CO

NT

RO

LC

OM

/ C

ON

FIG

-

+

ABC

DEF0123

4567

89

ABC

DEF0123

4567

89

E1100-RSE1100-RS-HCE1100-RS-XC

E1100-COE1100-CO-HCE1100-CO-XC

E1100-DNE1100-DN-HCE1100-DN-XC

Absolute & Relative Positioning


Positioning using Motion Profiles

Internally stored Motion Commands

Internally stored Motion Sequences

Master Encoder Synchronization

Synchronization to Belt Speed

Step and Direction Interface

Position Streaming



Analog Parameter Scaling

Winding Function Block

Force Control Technology Function

Customer-Specific Functions

X1: Motor SupplyRegeneration Resistor

X2: Motor Phases

X3: Motor Connector

X4: Control I/O’sLogic Supply

LED State Display

X5: COM Interface

S3: Bus Termination


X8: RS485 / CAN Out



X7: RS485 / CAN In

S1-2:Bus Address RS/CAN

Series E1100-DN drives feature an integ-rated DeviceNet interface. With the De-viceNet interface, even complicated motion sequences can be realized with the highest possible flexibility.

The drive can be actuated and monitored via the DeviceNet connection.

E1100-DN are UCMM Group 3-capable slaves, and support polled IO runtime data transfer

The LinMot Series E1100-RS Servo Drives support the LinRS serial communication protocol. LinRS is a proprietary protocol for actuating LinMot Servo Drives via the RS 232, RS 422, and RS 485 interfaces.

If the drive is actuated by the overlaid con-trol via the serial interface, then this is con-figured from the PC via CANBus. The USBSCAN converter (item no. 0150-3134), supported by LinMot Talk, is used for this.

Adjustable Baud rates: 9.6-115.2kBaud

LinMot CO drives, with integratedCANopen interface, support the CiA DS301 communication profile.

The following resources are available: 3 T_PDO, 3 R_PDO, 1 T_SDO, 1 R_SDO

The following protocols are supported by the CO drives: - NMT Error Control (Nodeguarding Proto-col or HeartBeat Protocol) - PDO (Transmission type 254 and 1)- SDO Upload and Download - NMT (Start, Stop, Enter PreOp, Reset Node, Reset Communication) - Boot-Up Message

LinRS Serial Interface CANopen DeviceNet

Series E1100-RS/-DN/-CO

E11

00-R

S/_

DN

/_C

O



E1100-RSE1100-COE1100-DN

RS232 PC INTERFACECONFIGURATION RS232CAN

RS232/RS458

RS485

CAN

3

4

X5

2

COMMUNICATIONINTERFACERS232/RS485CANOPENDEVICENET

4

2

X8

COMMUNICATIONINTERFACERS232/RS485CANOPENDEVICENET

RS485

CAN

4

2

X7

RS485

CAN

OPTIONAL EXTERNALPOSITION SENSOR

X12

A+ SIN+A- SIN-B+ COS+B- COS-Z+ ZERO+Z- ZERO-ENC ALARM+5VDC

MOTORPERIPHERY

ROTRAY MOTOR & SUPPLY PROTECTION

LOGIC SUPPLY

FAST PROCESSINPUTS

MACHINE SAFETY

X4

LIMIT SWITCH+LIMIT SWITCH-HOME SWITCHBRAKE OUTPUT

PTC1PTC2

TRIGGER INPUTCAPTURE INPUTANALOG INPUT

SVE

+24VDCGND

1,2,3-PHASEPOWERSTAGE

24...80V DC8A/15/25APHASECURRENT

X1 X2

X3

REGENERATION RESISTOR

SUPPLY3x400VAC230VAC115VAC

PH1+PH1-PH2+PH2-

LINEAR MOTOR

PH1+PH1-PH2+PH2-SINCOSTEMP.+SVGND

MOTOR SUPPLY

BRUSHLESS DC MOTOR

MASTER ENCODER

A+ STEP+A- STEP-B+ DIRECTION+Z+ ZERO+Z- ZERO-B- DIRECTION-

X10

MASTER ENCODER


X11

RS/DeviceNet/CANopen

Item Description Part NumberE1100-RS RS232/485 Drive (72V/8A) 0150-1677 E1100-RS-HC RS232/485 Drive (72V/15A) 0150-1678 E1100-RS-XC RS232/485 Drive (72V/25A) 0150-1862 E1100-CO CANopen Drive (72V/8A) 0150-1681 E1100-CO-HC CANopen Drive (72V/15A) 0150-1682 E1100-CO-XC CANopen Drive (72V/25A) 0150-1683E1100-DN DeviceNet Drive (72V/8A) 0150-1679 E1100-DN-HC DeviceNet Drive (72V/15A) 0150-1680 E1100-DN-XC DeviceNet Drive (72V/25A) 0150-1863

E11

00-R

S/_

DN

/_C

O



E1130-DPE1130-DP-HCE1130-DP-XC

Profibus DP

E1130-DP









Position Streaming







RR

PWR+

PGND

SCRN


*=X3 ratin 5A RMS


X4.8

X4.7

X4.6

X4.5

X4.4

X4.3 /Brk+24VDCDGND

ERROR24VOK

EN

WARN

ID HIGH

ID LOW



12

1

X11+ u

1- v

2+ w

2- x

X2

X3

X4

S2

X5

S1

MO

T S

UP

PLY

MO

T P

HA

SE

SM

OT

OR

LO

GIC

SU

PP

LY /

CO

NT

RO

LC

OM

/ C

ON

FIG

-

+

ABCD

EF012345

67

89

ABCD

EF012345

67

89


X2: Motor Phases

X3: Motor Connector


LED State Display

X5: Configuration

S3: Bus Termination


X8: RS485 / CAN Out



X7: RS485 / CAN In

S1-2:Busadresse RS/CAN

X9: Profibus Interface

The 9-pole Profibus connector on the front side provides power for an external bus ter-mination. A positive directional control sig-nal is provided to control repeaters or optical fibers.

All signals on the PROFIBUS connector are galvanically separated.

The PROFIBUS-DP address is set by two hex code switches (ID1 and ID2).

All addresses permitted by the standard are supported (0..125).

DP Servo Drives feature an integrated PROFIBUS-DP interface. PROFIBUS-DP provides the user with a standardized field-bus interface for rapid data interchange between the Servo Drive and the overlaid control.

With fast data transfer and command initia-tion, as well as simple system integration, the Profibus drives are the ideal solution for applications with motions and sequences that change frequently, such as are requi-red, for example, in flexible machines and systems with automatic format changes.

The PROFIBUS-DP interface supports all Baud rates from 9.6 Kbits/s to 12 Mbit/s.The maximum net data quantity ex-changed in cyclical data traffic is 64 bytes per cycle. The smallest achievable bus cycle time is 100 µs. The structure and scope of cyclical data can be collected from any individual data modules into an overall data quantity when planning the system.

A GSD device master file is provided for open planning in conformance with the PROFIBUS-DP standard.

Series E1130-DP

E11

30-D

P



Item Description Part NumberE1130-DP Profibus DP Drive, (72V/8A) 0150-1667 E1130-DP-HC Profibus DP Drive, (72V/15A) 0150-1668 E1130-DP-XC Profibus DP Drive, (72V/25A) 0150-1861


24...80V DC8A/15/25APHASECURRENT

X1 X2

X3


SUPPLY 3x400VAC230VAC115VAC

PH1+PH1-PH2+PH2-

BRUSHLESS DC MOTOR

LINEAR MOTOR


MOTOR SUPPLY

E1100-DP

PROFIBUS DPCOMMUNICATIONmax. 12MBaud

PROFIBUS DP

X95

RS232 PC INTERFACE CONFIGURATIONRS232CAN

RS232/RS485

RS485

CAN

3

4

X5

2

COMMUNICATION INTERFACERS232/RS485CANOPENDEVICENET

4

2

X8

COMMUNICATION INTERFACERS232/RS485CANOPENDEVICENET

RS485

CAN

4

2

X7

RS485

CAN


X12


ACTUATOR PERIPHERIE


LOGIC SUPPLY

FAST PROCESSINPUTS

MACHINE SAFETY

X4


PTC1PTC2


SVE

+24VDCGND

S1-S2

ID HIGH

ID LOW

PROFIBUS ID

MASTER ENCODER A+ STEP+A- STEP-B+ DIRECTION+Z+ ZERO+Z- ZERO-B- DIRECTION-

X10

MASTER ENCODER


X11

Profibus DP

E11

30-D

P



In addition to actuation via serial interfaces and fieldbusses, Series E1100-GP drives can use direct addressing of up to 256 commands in the Command Table, via 8 digital inputs (X6).

Even complex drive tasks and complete, automated sequences can be controlled using simple digital signals.

Series E1100-GP drives are multifunctio-nal Servo Drives, on which the firmware from the following drives can be installed:

- Series E1100-RS - Series E1100-CO - Series E1100-DN

All functions of the drives listed above, ex-cept for safe pulse inhibitors (X4.12) are available in the Series E1100-GP Servo Drives.

For actuation by an overlaid drive, the fol-lowing digital, serial, and fieldbus inter-faces are available:

- LinRS via RS232, RS485 and RS422- CANopen - DeviceNet

E1100-GPE1100-GP-HCE1100-GP-XC

General Purpose Drive

E1100-GP









Position Streaming







RR

PWR+

PGND

SCRN


*=X3 ratin 5A RMS

X4.11X4.10X4.9

X4.8

X4.7

X4.6

X4.5

X4.4

X4.3 /Brk+24VDCDGND

ERROR24VOK

EN

WARN

ID HIGH

ID LOW



11

1

X11+ u

1- v

2+ w

2- x

X2

X3

X4

S2

X5

S1

MO

T S

UP

PLY

MO

T P

HA

SE

SM

OT

OR

LO

GIC

SU

PP

LY /

CO

NT

RO

LC

OM

/ C

ON

FIG

-

+


X2: Motor Phases

X3: Motor Connector


LED State Display

X5: Configuration

S3: Bus Termination


X6: Digital I/O



S1-2:RS/CAN Bus Address

Series E1100-GP

E11

00-G

P



Item Description Part NumberE1100-GP General Pupose (72V/8A) 0150-1665 E1100-GP-HC General Pupose (72V/15A) 0150-1666 E1100-GP-XC General Pupose (72V/25A) 0150-1864


24...80V DC8A/15A/25APHASECURRENT

X1 X2

X3

REGNERATION RESISTOR

SUPPLY 3x400VAC230VAC115VAC

PH1+PH1-PH2+PH2-

BRUSHLESS DC MOTOR

LINEAR MOTOR


MOTOR SUPPLY

E1100-GP

5

8

8

MACHINE CONTROLLERPLC, IPC

GOTO POSITIONINPUTS 1-8

TRIGGER INPUT

CMD GROUPSELECT

IN POSITIONOUTPUTS 1-8

X6


X12


RS232 PC INTERFACE CONFIGURATIONRS232CAN

RS232/RS485

RS485

CAN

3

4

X5

2

MASTER ENCODER A+ STEP+A- STEP-B+ DIRECTION+Z+ ZERO+Z- ZERO-B- DIRECTION-CAN_HCAN_L

X10

MASTER ENCODER

A+ STEP+A- STEP-B+ DIRECTION+Z+ ZERO+Z- ZERO-B- DIRECTION-CAN_HCAN_L

X11

BRAKE


LOGIC SUPPLY

FAST PROCESSINPUTS

X4


PTC1PTC2


+24VDCGND

General Purpose

E11

00-G

P



RR -

RR +

PWR +

PGND


Internal Fuse 16AT

Optional:Regeneration Resistor (external)

*

* for UL, see installation guide

1

2

3

4

1

2

3

4

RR

PWR+

PGND

-

+

GND

24...80VDC

GND

Interfaces

Motor Supply:

Motor Supply Voltage 24...80VDC. Absolute max. Rating 72VDC + 20%

If motor supply voltage is exceeding 90VDC, the drive will go into error state

X1 Motor Supply / Regeneration Resistor


- If the RMS current is not higher than 5Arms, respectively 7.5 Apeak, the phases can be connected to X3.- Do NOT connect X2 and X3.

1

2

3

4

5SCRN

1+ u

1- v

2+ w

2- x

X2 Motor Phases

Screw Terminals1.5-2.5mm² (AWG16-14)

Nr. Designation LinMot Linear Motor Color 3-Phase-Motor1 PH1+ /U Motor Phase 1+ red Motor Phase U2 PH1- /V Motor Phase 1- pink Motor Phase V3 PH2+ /W Motor Phase 2+ blue Motor Phase W4 PH2- Motor Phase 2- grey5 SCRN Shield

- Use X2 for motor phase wiring if phase current exceeds 5Arms or 7.5Apeak - Use +5V (X3.3) and AGND (X3.8) only for motor internal Hall Sensor supply (max. 100mA)- Do NOT connect AGND (X3.8) to ground or earth!

61

2

3

4

5

7

8

9

X3 Motor

Nr LinMot Linear Motor 3-Phase-Motor1 Motor Phase 1+ Motor Phase U2 Motor Phase 2+ Motor Phase W3 +5VDC4 Sine Hall U5 Temperature Hall W6 Motor Phase 1- Motor Phase V7 Motor Phase 2-8 AGND9 Cosine Hall VCase ShieldDSUB-9

E11

00



Series E1100

6

7

8

9

PHASE 1+

PHASE 1-

PHASE 2+

PHASE 2-

+5VDC

AGND

SINE

COSINE

TEMP.

RED

PINK

BLUE

GREY

WHITE

INNER SHIELD

YELLOW

GREEN

BLACK

GND

GND

GND

+5VDC


2k2

2k2

10k

61

2

3

4

5

7

8

9

1

2

3

4

5

Motor Motor wiring for phase current below 5Arms and below 7.5Apeak

X3: DSUB-9 (f)

For LinMot Linear Motors only use original LinMot double shielded motor cable K, KS, or KR

PHASE 2-

PHASE 2+

PHASE 1-

PHASE 1+

+5VDC

AGND

SINE

COSINE

TEMP

GREY

BLUE

PINK

RED

WHITE

INNER SHIELD

YELLOW

GREEN

BLACK

GND

GND

GND

+5VDC

61

2

3

4

5

7

8

9

5

4

3

2

1

OUTER SHIELD

1

2

3

4

5SCRN

1+ u

1- v

2+ w

2- x

6

7

8

9

1

2

3

4

5

2k2

2k2

10k

Motor Motor wiring

X3: DSUB-9 (f)

For LinMot Linear Motors only use ori-ginal LinMot double shielded motor cable K, KS, or KR

X2: Screw Terminals

ID HIGH

ID LOW S2

S3

S1ABC

DEF01234

5678

9

ABCD

EF0123456

789

1 2

3

4

on off

E11

00

S1-3 Address Selectors / Bus Termination

SwitchS1 Bus ID High (0…F) HEX-Switches for Bus ID

address range 0.255S2 Bus ID Low(0…F)

Switch E1100S3 Switch 1: RS232 “off” / RS485 “on” Select serial RS23 or RS485

Switch 2: RS485 Terminatio on/offSwitch 3: CAN Termination on/offSwitch 4: Bus Interface on/off Factory settings: all switches “off”

X2

X3



Interfaces

Inputs 24V / 1mAOutputs 24V / max.100mABrake Output (X4.3) 24V / max.1.0ASample Rate Inputs/Outputs 1ms, Trigger Input 0.315msecSupply 24VDC / typ. 400mA / max. 2.1A (if all outputs “on” with max. load.)Wiring 0.25-1.5mm² (AWG24-16)

X4.12 SVEEnable=24V

X4.11

X4.10

X4.9

X4.8

X4.7

X4.6

X4.5

X4.4

X4.3 /Brk

+24VDC

DGND

12

1

LO

GIC

SU

PP

LY /

CO

NT

RO

L

POWER STAGE ENABLE (HW ENABLE)

CONFIGURABLE IO, PTC 2


CONFIGURABLE IO

CONFIGURABLE IO

CONFIGURABLE IO, HOME SWITCH

CONFIGURABLE IO, TRIGGER

CONFIGURABLE IO

CONFIGURABLE IO, ANALOG INPUT

CONFIGURABLE IO, BRAKE DRIVER 1A

LOGIC SUPPLY 22-26 VDC

GND

4,7k

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 1.0A

*

*

*

*

*

*

*

*

*

* ALL OUTPUTS WITH INTERNAL PULL

DOWN RESISTOR 4K7 TO GND

12

11

10

9

8

7

6

5

4

3

2

1

Internal Fuse 3AT

X4: 12pin Control / Supply E1130-DP, E1100-CO, E1100-DN, E1100-RS

Phoenix MC1,5/12-STF-3,50.25-1.5mm² (AWG24-16)

No Description12 Input Safety Voltage Enable Power Stage Enable (HW Enable)11 I/O X4.11 Configurable IO, PTC 210 I/O X4.10 Configurable IO, PTC 19 I/O X4.9 Configurable IO8 I/O X4.8 Configurable IO7 I/O X4.7 Configurable IO, Home Switch6 I/O X4.6 Configurable IO, Trigger5 I/O X4.5 Configurable IO4 I/O X4.4 Configurable IO, Analog Input3 I/O X4./Brk Configurable IO, Brake Driver 1A2 +24VDC Supply Logic Supply 22-26 VDC1 GND Supply Ground

X4.11

X4.10

X4.9

X4.8

X4.7

X4.6

X4.5

X4.4

X4.3 /Brk

+24VDC

GND

11

1

LO

GIC

SU

PP

LY /

CO

NT

RO

L



CONFIGURABLE IO

CONFIGURABLE IO



CONFIGURABLE IO




GND

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 1.0A

*

*

*

*

*

*

*

*

*



11

10

9

8

7

6

5

4

3

2

1

Internal Fuse 3AT

X4: 11pin Control / Supply E1100-GP


E11

00



Series E1100

INPUT X6.1

INPUT X6.14

INPUT X6.2

INPUT X6.15

INPUT X6.3

INPUT X6.16

INPUT X6.4

INPUT X6.17

INPUT X6.5

INPUT X6.18

INPUT X6.6

INPUT X6.19

INPUT X6.7

INPUT X6.20

INPUT X6.8

INPUT X6.21

OUTPUT X6.9

OUTPUT X6.22

OUTPUT X6.10

OUTPUT X6.23

OUTPUT X6.11

OUTPUT X6.24

OUTPUT X6.12

OUTPUT X6.25

GND

+24V

INP

UT

SIN

PU

TS

+24V DC

OU

TP

UT

S (

MA

X. 1

00m

A)

100mA

100mA

100mA

100mA

100mA

100mA

100mA

100mA

*

*

*

*

*

*

*

*

* OUTPUTS WITH INTERNAL PULL


141

2

3

4

5

6

7

8

910

11

12

13

15

16

17

18

19

20

21

22

23

24

25

1

14

2

15

3

16

4

17

5

18

6

19

7

20

8

21

9

22

10

23

11

24

12

25

13

50k

50k

50k

50k

50k

50k

50k

50k

50k

50k

50k

50k

50k

50k

50k

50k

X6 Digital I/O E1100-GP

X6: DSUB-25 (f)

All Inputs: Direct interfacing to digital 24VDC PLC outputs. Input current: 1mAlow level: -0.5…5VDChigh level: 15…30VDCSample rate: 625µs

All Outputs: Short circuit and overload protected high side switches Voltage: 24VDCMax. current: 100mAHigh Level: 15…30VDCUpdate rate: 625µs

Outputs may directly drive inductive loads

E11

00



Interfaces

Green:

24VDC Logic Supply OK

Stat A Yellow:

Motor Enabled

Stat B Yelllow:

Warning

Red:

Error

Green

LED State Display

Yellow

Yellow

Red

6

7

8

9

RS485_TX+

RS485_RX-

RS232_TX

RS485_TX-

RS232_RX

CAN_L

RS485_RX+

CAN_H

GND

RS485_RX-

RS485_RX+

CAN_L

CAN_H

GND

S3.2

S3.3

100

95

4

3

2

1

8

7

6

120

120

1

2

3

4

5

X5 COM COM Interface

X5: DSUB-9 (m)


- X7 internally connected to X8 (1:1 connection)- Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring. - The built in CAN and RS485 terminations can be activated by S3.2 and S3.3.

8

7

6

5

4

3

2

1

X7-X8 RS485/CAN

RJ-45

Nr1 RS485_Rx+ A2 RS485_Rx- B3 RS485_Tx+ Y4 GND5 GND6 RS485_Tx- Z7 CAN_H8 CAN_LCase Shield

E11

00



Max. Baud rate: 12 Mbaud

61

2

3

4

5

7

8

9

X9 Profibus DP

Nr1 -2 -3 RxD/TxD-P4 CNTR-P5 GND (galvanically seperated)6 +5V (galvanically seperated)7 -8 RxD/TxD-N9 -Case ShieldDSUB-9

- CAN internally connected to X7, X8- CAN und RS485 Termination can be turned on by S3.2 alt. S3.3. - X10 an X11: Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring. - X10 Master Encoder Inputs:Differential RS422, max. Input Frequency 4.5MHz- X11Master Encoder Outputs:Amplified RS422 differential signals from Master Encoder IN (X10)

8

7

6

5

4

3

2

1

X10-X11 Master Encoder IN (X10) / Master Encoder OUT (X11)

RJ-45

Nr Incremental Step/Direction EIA/TIA 568A colors1 A+ Step+ Green/White2 A- Step- Green3 B+ Direction+ Orange/White4 Z+ Zero+ Blue5 Z- Zero- Blue/White6 B- Direction- Orange7 CAN_H* CAN_H* Brown/White8 CAN_L* CAN_L* BrownCase Shield Shield

Encoder Inputs: - Incremental:RS422- Sin/Cos:1Vpp

Maximal Input Frequency: 4.5 Mio. Incr./sec (incremental RS422), minimal pulsewidth > 220nsec10kHz (analog 1Vpp), 10Bit AD

Sensor Supply: 5VDC (max. 100mA)

Sensor Alarm Input: 5V / 1mA

61

2

3

4

5

7

8

9

X12 External Positions Sensor

Nr Incremental: Sin/Cos1 +5V DDC +5V DC2 A- SIN-3 B- COS-4 Z- ZERO-5 GND GND6 A+ SIN+7 B+ COS+8 Z+ ZERO+9 Enc. Alarm Enc. AlarmCase Shield ShieldDSUB-9

Series E1100

E11

00

*only on E1100-GP



218

237

255

38

180

E1100


Centers

Dimensions in mm

Servo Drives Series E1100Width mm (in) 38 (1.5)Height mm (in) 255 (10.0)Height without fixings mm (in) 218 (8.6)Depth mm (in) 180 (7.1)Weight kg (lb) 1.5 (3.3)IP Protection class IP 20Storage temperature °C -25...40Transport temperature °C -25...70Operating temperture °C 0...40 at rated date

40...50 with powerderating

Max. case temperature °C 65Max. power dissipation W 30Min. distance betweendrives

mm (in) 20 (0.8) left/right50 (2) top/bottom

E11

00

Artikel Beschreibung Artikelnummer

E1100-RS RS232/485 Drive (72V/8A) 0150-1677 E1100-RS-HC RS232/485 Drive (72V/15A) 0150-1678 E1100-RS-XC RS232/485 Drive (72V/25A) 0150-1862 E1100-CO CANopen Drive (72V/8A) 0150-1681 E1100-CO-HC CANopen Drive (72V/15A) 0150-1682 E1100-CO-XC CANopen Drive (72V/25A) 0150-1683E1100-DN DeviceNet Drive (72V/8A) 0150-1679 E1100-DN-HC DeviceNet Drive (72V/15A) 0150-1680 E1100-DN-XC DeviceNet Drive (72V/25A) 0150-1863 E1100-GP General Pupose (72V/8A) 0150-1665 E1100-GP-HC General Pupose Drive (72V/15A) 0150-1666 E1100-GP-XC General Pupose Drive (72V/25A) 0150-1864 E1130-DP Profibus DP Drive, (72V/8A) 0150-1667 E1130-DP-HC Profibus DP Drive, (72V/15A) 0150-1668 E1130-DP-XC Profibus DP Drive, (72V/25A) 0150-1861



Switched-Mode Power Supplies 115VAC / 230VAC

Item Description Part NumberS01-72/500 Switched-Mode Power Supply 72V/500W 0150-1874S01-72/1000 Switched-Mode Power Supply 72V/1000W 0150-1872

Accessories E1100

Transformer Supply T01 3x230/280/400/480VAC


Control Box B01-E1100

Item Description Part NumberB01-E1100 Control Box for E1100 (incl. cable and connectors) 0150-1970

SPH500-7207

SPH500-7207

CSA 22.2-60950CSA 22.2-107UL 60950UL 508SPH1013-7214

E11

00/B

1100

Ac

cess

ori

es



Option: External High Resolution Encoder

Item Description Part NumberMS01-1/D Linear Encoder 1um, A/B (for 1mm magnetic band) 0150-1840MB01-1000 Magnetic Band 1mm pitch, per cm 0150-1963

Connector Cable and USB-Converter

Item Description Part NumberRS232 PC config. cabel 2m for E100/E1001 0150-3009RS232 PC config. cabel 2m for E100/E1001/E1100/B1100 0150-3307RS232 PC config. cabel 2.5m for E1200/E1400 0150-2143USB-Serial Converter USB to 9-pin Serial Converter 0150-3110USB-CAN Converter USB to CAN Converter for E1100 0150-3134RJ45-08/0.3 RJ45 patch cable 0.3m for E1100 0150-1852RJ45-08/0.6 RJ45 crossover patch cable 0.6m 0150-1853RJ45/RJ45-0,2-ML1 MC-Link cable 0,2m 0150-3308

Accessories E1100

0150-3009 0150-3110 0150-1852 0150-1853

E11

00/B

1100

Ac

cess

ori

es

E11

00/B

1100

Ac

cess

ori

es

0150-3134 0150-2143



Series E1200

Servo Drive Series E1200



Servo Drives

Servo Drive E1200

Series E1200 Servo Drives are modular axis dri-ves, with 32-bit position resolution and an integ-rated power stage, for linear motors and rotary drives.

The drives are suitable for simplest, standard, and high-end positioning tasks, across the entire force range of the LinMot product range.

The Servo Drives have two separate power supply inputs for the logic and power ele-ments.



The Series E1200 Servo Drives can be actuated by machine controls from any manufacturer or brand, via digital inputs and outputs, RS232 or RS485 serial inter-face, CanBus CANopen and DeviceNet interfaces, Profibus DP, or industrial ETHERNET.


The safe pulse inhibitor on Servo Drive with fieldbus interfaces or industrial ETHERNET allows safe stop of the drives via control si-gnals, per EN 954-1, without interrupting the power supply.






Series E1200 Servo Drives have analog and di-gital inputs and outputs, serial interfaces, fieldbu-sses, and ETHERNET connections. The user is therefore not dependent on the selection of the overlaid drive. An appropriate interface is availa-ble, with associated protocols, for any PLC or IPC solution.

With flexibility and a compact form factor, LinMot Series E1200 Servo Drives provide a complete solution for a flexible drive concept in single and multiple axis applications, with linear motors and other actuators.


Series E1200


DigitalI/O´s

RS232RS485

CANopen

Device-Net

ProfibusDP

MasterEncoder

OutSyn

ch.

MasterEncoder

In Syn

ch.

ProfiNet SercosIII

PowerLink

Ethernet IP

EtherCAT

Limit - Switch

Home Switch

Limit + Switch

For synchronization to a mechanical mas-ter shaft, or a rotating main drive, the Axis (linear motors and rotary motors) can be coupled to an electronic main shaft via the Master Encoder Interface.

The encoder signal from the main shaft can be passed through by the Master Encoder Interface, so that any number of linear mo-tors can be synchronized to the main shaft.

Option: Master Encoder Module Motor Interfaces Configuration

E1200 Servo Drives provide all necessary interfaces to operate linear or rotary motors with optional external peripherals, such as end position and reference switches, a me-chanical brake, or a high-resolution exter-nal position sensor.

In special applications, two drives can be synchronized with each other using the synchronization interface in masterbooster mode.

Parameterization and configuration of the Servo Drive is done via the Ethernet inter-face on the front side for simultaneous con-figuration of several drives.


Fieldbus and ETHERNET drives can also be configured directly by the overlaid con-trol.

LogicSupply

MotorSupply

TriggerInputs



Optional Brake

Sup

ply

and

Sa

fety

Fas

t P

roze

ss In

puts

Con

fig.

AnalogInputs

LinmotServo DriveSeriesE1200







set points


Commands

Regener-ation

Resistor


Capture

Con

fig.



ETHER-NET

(RS232)

ETHER-NET



Time Curves



Interpolated Moves

For direct position targets, using absolute or relative positioning, the desired position is reached using acceleration and velocity-limited motion profiles or jerk optimized profiles (jerk limited and Bestehorn). Positioning commands can be invoked via the serial interfaces, CAN-open, DeviceNet, Profibus, Ethernet or a trigger input


Profiled Moves



Time[ms]

Stroke [mm]


Time[ms]

Stroke [mm]

Curve 1

Time[ms]

Stroke [mm]

Curve 1

Start Curve 1


2

Operating Modes

Setpoint Streaming

Overlaid NC drives with fieldbus or ETHERNET interfaces communicate with the Servo Drives via "Position Streaming". The position and velocity calculated in the overlaid control is transmit-ted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission.

Position Resolution: 32 BitVelocity Resolution 32 BitInterpolator: 10 kHzcycle times: 0.4-5msTime[ms]

Stroke [mm]



Series E1200

Master Encoder Synchronization (MT)

For synchronization to an external main or master shaft, the linear motor travels along the motion profiles stored in the drive, at the machine speed (machine angle 0…360°). Using this function, mechanical cam discs can be replaced with highly dynamic linear motors. The motion profiles can be freely defined, and the correct motion profile can be invoked during product changeover with no changeover time.

Motion profiles Max. 100 curve profiles Curve points: Max. 16’000 points Encoder Counter: 32 BitEncoder Input: A/B/Z (RS422)Max. counting frequency Max. 4.5 MHz

Belt Synchronization

Synchronization to a belt speed can be done using the Master Encoder Interface or Step/Direc-tion/Zero interface. Applications such as the "flying saw", synchronous loading or unloading, synchronous filling or labeling of bottles or containers on a conveyor belt, and many other applications can be implemented in this way.

Encoder Counter: 32 BitEncoder Input: A/B/Z (RS422), max. 5 MHz

STEP/DIR/ZEROMax. counting frequency Max. 4.5 MHz

Easy Steps


Digital inputs: max. 8Interface: X4Scanning rate: 200µsec

Command Table



Time[ms]

Stroke [mm]

Curve 1

0° 90° 180° 270° 360°

Time[ms]

v [m/s]

counts/secvBelt


Wait Input

Terminate A

Pos 12mm

Rule 1

Start

Stop



Winding Application



Using the force control technology function, precise joining processes can be implemented reli-ably and reproducibly with high-precision force control. For force control, the current motor force is measured with a load cell and controlled in the drive. Joining process or quality checks with high requirements for applied force can be implemented.

Analog Input: 0-10V or ±10VResolution: 12 BitMin. Force Resolution: 0.1N

FMot= 0,1...580N

Load Cell

0...10V Fone

Series E1200




Force Max

Time[ms]0%

100%

Maximum Force [0...10V => 0...100%]

Analog Position


Inputs: Analog Input X4 or X20Voltagvte range: 0-10VDC or ±10VResolution: 12 BitScanning rate: >=100µsec (adjustable)

0VPosition

10VPosition



X4.12 SVEEnable=24VX4.11 IO PTC2X4.10 IO PTC1X4.9 IO LIM+X4.8 IO LIM-X4.7 IO HSWX4.6 IO TRIGX4.5 IO CAPX4.4 IO ANX4.3 IO /BRK +24VDCDGND

24VOKEN

OK

ERROR

ERROR

WARNING

ID HIGH

ID LOW

RT BUS

12

X3

X13

1

X4

S2

S1

X2

X1

MO

T S

UP

PLY

MO

T P

HA

SE

S

MO

TOR

SE

NS

OR

EX

T P

OS

SE

N /

DIF

F H

AL

L S

WL

OG

IC S

UP

PLY

/ C

ON

TR

OL

X15

/X16

CF

GX

17/X

18 R

T


X2: Motor Phases

X3: Motor Signal

X4: Control Logic Supply

LED State Display

X15-:ETHERNET ConfigurationX16

S5: Bus Termination

X7: RS485 / CAN In

X19: System Configuration RS232

X20: Analog In (± 10V)

X8: RS485 / CAN Out

S1-2:Busadress

X13: External Positionssensor

ED State Display

X17-:RealTime ETHERNETX18


X9: Profibus (only -DP)


Interfaces

E12

50-

PL

-UC

E12

50-P

N-U

C

E12

50-D

P-U

C

E12

50-S

C-U

C

E1

250-

IP-U

C

E12

50-L

U-U

C

E12

50-E

C-U

C

E1

250-

SE

-UC

E12

50-D

S-U

C

E12

30-D

P-U

C

E12

00-G

P-U

C

Interfaces

CANopen

LinRS

POWERLINK

PROFINET

PROFINET Profidrive

sercos

sercos over EtherCAT

ETHERNET IP

LinUDP

EtherCAT

ETHERCAT CiA402

PROFIBUS-DP



X4.12 SVEEnable=24VX4.11 IO PTC2X4.10 IO PTC1X4.9 IO LIM+X4.8 IO LIM-X4.7 IO HSWX4.6 IO TRIGX4.5 IO CAPX4.4 IO ANX4.3 IO /BRK +24VDCDGND

24VOKEN

OK

ERROR

ERROR

WARNING

ID HIGH

ID LOW

RT BUS

12

X3

X13

1

X4

S2

S1

X2

X1

MO

T S

UP

PLY

MO

T P

HA

SE

S

MO

TOR

SE

NS

OR

EX

T P

OS

SE

N /

DIF

F H

AL

L S

WL

OG

IC S

UP

PLY

/ C

ON

TR

OL

X15

/X16

CF

GX

17/X

18 R

T

E1250-PL-UCE1250-PN-UCE1250-PD-UCE1250-SC-UCE1250-IP-UCE1250-LU-UCE1250-EC-UCE1250-SE-UCE1250-DS-UCE1230-DP-UCE1200-GP-UC

Series E1200

Type: Realtime ETHERNET

Switch/Hub: Integrated 2-Port Hub/Switch

Transfer rate: 10/100MBit/sec

Series E1200 drives allow integration of LinMot linear motors in controls concepts with industrial ETHERNET interfaces. The user can integrate Series E1200 drives re-gardless of the provider of the overlaid con-trol.

LinMot drives are available with common industrial ETHERNET protocols. Since all ETHERNET drives have the same motion command interface, and the control and status word are identical, software blocks that have been implemented once can be transferred to other drives without a prob-lem.

Series 1200 Servo Drives support the fol-lowing industrial ETHERNET protocols:

- Profinet - Industrial IP - PowerLink - EtherCat - Sercos III

The appropriate drive is available for each protocol.

Industrial ETHERNET Technical Data








Position Streaming







X2: Motor Phases

X3: Motor Signal


LED State Display

X15-:ETHERNET ConfigurationX16

S5: Bus Termination

X7: RS485 / CAN In


X20: Analog In

X8: RS485 / CAN Out

S1-2:Busadress


ED State Display

X17-:RealTime ETHERNETX18


X9: Profibus (only -DP)




X3

SINCOSTEMP.+5VGND

X1

X2

PH1+PH1-PH2+PH2-

LINEAR MOTOR

BRUSHLESS DC MOTOR

E12x0-Series

SYSTEMINTERFACE:RS232

RS2323

X19

COMMUNICATIONINTERFACERS485CANOPENDEVICENET

4

2

X8

COMMUNICATIONINTERFACERS485 CANOPENDEVICENET

RS485

CAN

4

2

X7

RS485

CAN

BRAKE

LOGIK SUPPLY

SAVE PULSEINHIBITOR

X4


PTC1PTC2


SVE

+24VDCGND

FAST PROCESSINPUTS

ROTRAY MOTOR &SUPPLY PROTECTION

S1-S2

ID HIGH (S1)

ID LOW (S2)

MASTER ENCODER


X10

MASTER ENCODER


X11

10/100 MBaudINDUSTRIALETHERNET


6

6

X17 / X18

10/100 MBaudConfigurationETHERNET

10/100 MBaudConfigurationETHERNET

6

6

X15 / X16

PROFIBUS DP PR

ETHERNET

OFIBUS DP

X9 (only on -DP) X13

OPTIONALEXTERNALPOSITIONS SENSOR

A+ SIN+A- SIN-B+ COS+B- COS-Z+ ZERO+Z- ZERO-U+U-V+V-W+W-ENC ALARM+5VDCGND


24...80V DC8A/15A/25APHASE CURRENT


SUPPLY3x400VAC230115VAC

VAC

MOTOR SUPPLY

Series E1200



Interfaces

PGND

PWR +

RR +

RR -


Optional:Regeneration Resistor (external)

external Fusemax. 20AT

4

3

2

1

1

2

3

4

RR

PWR+

PGND

-

+ GND

24...85VDC

GND



1

2

3

4

5SCRN

1+ u

1- v

2+ w

2- x

X2 Motor Phases

Screw Terminals1.5-4mm²(AWG16-14)

Nr. Designation LinMot Linear Motor Color 3-Phase-Motor1 PH1+ /U Motor Phase 1+ red Motor Phase U2 PH1- /V Motor Phase 1- pink Motor Phase V3 PH2+ /W Motor Phase 2+ blue Motor Phase W4 PH2- /X Motor Phase 2- grey5 SCRN Shield

61

2

3

4

5

7

8

9

X3 Motor Encoder

Nr LinMot Linear Motor 3-Phase-Motor123 +5VDC +5VDC (Hall Supply)4 Sensor Sine Hall 15 Temperature In Hall 2678 AGND AGND (Hall Supply)9 Sensor Cosine Hall 2Case ShieldDSUB-9 (f)

Screw Terminals:

External Regeneration Resistor (RR01-10/60, Art. Nr. 0150-3088)External Fuse: max. 20ATSupply nominal 72VDC (24...85VDC)(See chapter Power Supply Requirements for compatible power supplies.)Absolute max. Rating 72VDC +20%.If motor supply voltage is exceeds 90VDC, the drive will go into error state.- Tightening torque: 0.5 - 0.6 Nm (4.4 – 5.3 lbin)- Screw thread: M2.5- Use 60/75°C copper conductors only- Conductor cross-section: use only 2.5mm2 / AWG 14- Stripping length: 13-15mm- Max. length: 4m

Screw Terminals:- Tightening torque: 0.5 - 0.6 Nm (4.4 – 5.3 lbin)- Screw thread: M2.5- Use 60/75°C copper conductors only- Conductor cross-section: 0.5 – 2.5mm2 (depends on Motor current) / AWG 21 -14- Stripping length 13-15mm

Note :Use +5VDC (X3.3) and AGND (X3.8) only for motor internal hall sensor supply (max. 100mA).Caution :Do NOT connect AGND (X3.8) to ground or earth!



PHASE 2-

PHASE 2+

PHASE 1-

PHASE 1+

Caution:do notconnectX3.1 / 2 / 6 / 7

+5VDC

OUTER SHIELD

PHASE 2-

PHASE 2+

PHASE 1-

PHASE 1+

+5VDC

AGND

SINE

COSINE

TEMP AGND

SINE

COSINE

TEMP

612345

789

5

4

3

2

1

1

2

3

4

5SCRN

1+ u

1- v

2+ w

2- x

6

7

8

9

1

2

3

4

5

X2

X3

Series E1200

Motor Motor wiring

X3: DSUB-9 (f)

X2: Screw Terminals

X4.12 SVEEnable=24V

X4.11

X4.10

X4.9

X4.8

X4.7

X4.6

X4.5

X4.4

X4.3 /Brk

+24VDC

DGND

12

1

LO

GIC

SU

PP

LY /

CO

NT

RO

L

POWER STAGE ENABLE (HW ENABLE)

CONFIGURABLE IO, PTC 2 INPUT

CONFIGURABLE IO, PTC 1 INPUT

CONFIGURABLE IO

CONFIGURABLE IO


CONFIGURABLE IO, TRIGGER INPUT

CONFIGURABLE IO




GND

4,7k

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 1.0A

*

*

*

*

*

*

*

*

*



12

11

10

9

8

7

6

5

4

3

2

1

Internal Fuse 3AT

X4: 12pin Logic Control / Supply

Phoenix MC1,5/12-STF-3,5(delivered with drive)

Inputs (X4.3 .. X4.12): 24V / 5mA (Low Level: –0.5 to 5VDC, High Level: 15 to 30VDC)Outputs (X4.4 .. X4.11): 24V / max.100mA, Peak 370mA (will shut down if exceeded)Brake Output (X4.3): 24V / max.1.0AInput X4.12: SVE (Safety Voltage Enable) must be high for enabling the power stage. ). If it goes low formore than 0.5ms the PWM generation of the power stage is disabled by hardware.Supply 24V / typ. 1.1A / max. 2.1A (if all outputs “on” with max. load and brake.)- Tightening torque: min 0.22Nm- Screw thread: M2- Use 60/75°C copper conductors only- Conductor cross-section max. 1.5mm2- Internal Fuse (F2): 3AT (slow blow, Schurter OMT125, 3404.0118.xx, UL File Number: E41599)CAUTION: For continued protection against risk of fire, replace only with same type and rating of fuse.




61

2

3

4

5

7

8

9

X9 Profibus DP (only available on E1230-DP-UC)

Nr1 -2 -3 RxD/TxD-P4 CNTR-P5 GND (isolated)6 +5V (isolated)7 -8 RxD/TxD-N9 -Case ShieldDSUB-9 (f)

Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring.Master Encoder Inputs: Diff. RS422, max. counting frequency 25 Mcounts/s, quadrature evaluation,40ns edge separationMaster Encoder Outputs: Amplified RS422 differential signals from Master Encoder IN (X10)The CAN bus can be terminated with S5.4.All devices, which are connected to X10/X11 must be referenced to the same ground.

8

7

6

5

4

3

2

1

X10-X11 Master Encoder IN (X10) / Master Encoder OUT (X11)

RJ-45

Nr Incremental Step/Direction EIA/TIA 568A colors1 A+ Step+ Green/White2 A- Step- Green3 B+ Direction+ Orange/White4 Z+ Zero+ Blue5 Z- Zero- Blue/White6 B- Direction- Orange7 CAN_H CAN_H Brown/White8 CAN_L CAN_L BrownCase Shield Shield

Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring.The built in CAN and RS485 terminations can be activated by S5.2 and S5.3.X7 is internally connected to X8 (1:1 connection)

8

7

6

5

4

3

2

1

X7-X8 RS485/CAN

RJ-45


Interfaces



Position Encoder Inputs ( RS422) :Max. counting frequency: 25 Mcounts/s with quadrature decoding, 40ns edge separation

Encoder Simulation Outputs (RS422):Max Output Frequency: 2.5MHz, 5 M counts/s with quadrature decoding, 200ns edge separation

Differential Hall Switch Inputs (RS422):Input Frequency: <1kHz

Enc. Alarm In:5V / 1mA

Sensor Supply:5VDC max 100mA

91

2

3

4

5

6

7

8

10

11

12

13

14

15

X13 External Position Sensor Differential Hall Switches / SSI

Nr ABZ with Hall Switches Sin/Cos 1Vpp with SSI1 +5V DC +5V DC

9 A+ Sin+2 A- Sin-

10 B+ Cos+3 B- Cos-

11 Z+ Data+4 Z- Data-

12 Encoder Alarm Encoder Alarm5 GND GND

13 U+6 U-

14 V+7 V-

15 W+ Clock+8 W- Clock-

case Shield Shield

DSUB-15 (f)

E12x0 V1 E12x0 V2

1 2

3

4

5

6

7 8

ABCDEF01234

5678

9

ABCDEF01234

5678

9


SwitchS1 Bus ID High (0…F). Bit 5 is LSB, bit 8 MSBS2 Bus ID Low(0…F). Bit 1 is LSB, bit 4 MSB

S5

1 2

3

4

on off

S5 Bus Termination

Switch E1200S5 Switch 1: AnIn2 Pulldown (4k7 Pulldown on X4.4). Set to ON, if X4.4 is used as digital Output.

Switch 2: Termination Resistor for RS485 on CMD (120R between pin 1 and 2 on X7/X8) on/offSwitch 3: CAN Termination on CMD (120R between pin 7 and 8 on X7/X8) on/offSwitch 4: CAN Termination on ME (120R between pin 7 and 8 on X10/X11) on/offFactory settings: all switches “off”

Series E1200

The use of these switches depends on the type of fieldbus which is used.Please see the corresponding manual for further information.



Series E1200

X15-X16 Ethernet Configuration 10/100Mbit/s

RJ-45

Nr Bez.X15 Internal 2-Port 10BASE-T and 100BASE-TX Ethernet SwitchX16 HP Auto MDIX

LEDs on the lower side of the device indicate “Link/Activity” per port, the upper onesare not used.

X17-X18 Ethernet RealTime

Nr Bez.X17 RT ETH In Specification depends on RT-Bus Type. Please refer to according documentation.X18 RT ETH Out

8

7

6

5

4

3

2

1

X19 RS232 Configuration

RJ-45

Nr Bez.1 Reserved, do not connect2 Reserved, do not connect3 RS232 RX4 GND5 GND6 RS232 TX7 Reserved, do not connect8 Reserved, do not connectcase Shield

RJ-45

8

7

6

5

4

3

2

1

X20 Analog In (+-10V Differential Analog Input)

RJ-45

Nr Bez.1 n.c.2 n.c.3 Analog In-4 GND5 GND6 Analog In+7 n.c.8 n.c.case Shield

Use isolated USB-RS232 converter (Art.-No. 0150-2473) for configuration over RS232.

24VOKENWarn

Error

LEDs State Display

Green 24V Logic Supply OKYellow Motor Enabled / Error Code Low NibbleYellow Warning / Error Code High NibbleRed Error

BUSOK

BUSError

RT BUS LEDs

Green OKRed Error



X4.12 SVE

Enable=24V

X4.11 IO PTC2

X4.10 IO PTC1

X4.9 IO LIM+

X4.8 IO LIM-

X4.7 IO HSW

X4.6 IO TRIG

X4.5 IO CAP

X4.4 IO AN

X4.3 IO /BRK

+24VDC

DGND

24VOKEN

OK

ERROR

ERROR

WARNING

ID HIGH

ID LOW

RT BUS

12

X3 X13

1

X4

S2

S1

X2

X1

MO

T S

UP

PLY

MO

T P

HA

SE

S

MO

TO

R S

EN

SO

R

EX

T P

OS

SE

N /

DIF

F H

AL

L S

WL

OG

IC S

UP

PLY

/ C

ON

TR

OL

X15/X

16 C

FG

X17/X

18 R

T

252

270

233

40

180

Servo Drives Series E1200Width mm (in) 40 (1.6)Height mm (in) 270 (10.6)Height without fixings mm (in) 233 (9.2)Depth mm (in) 180 (7.1)Weight kg (lb) 1.5 (3.3)Case IP 20Mounting ScrewsMounting Distance mm (in)

2 x M5252 (9.92)

Storage temperature °C -25...40Transport temperature °C -25...70Operating temperature °C 0...40 at rated date

40...50 with power deratingRelative humidity 95% (non-condensing)Max. case temperature °C 65Max. power dissipation W 30Clearance around drives mm (in) 20 (0.8) left/right

50 (2) top/bottom

Centers

Dimensions in mm

Item Description Part NummberE1250-PL-UC POWERLINK Servo Drive 72VDC/32A 0150-1760E1250-PN-UC PROFINET Servo Drive 72VDC/32A 0150-1762E1250-PD-UC ProfiDrive Servo Drive 72VDC/32A 0150-2620E1250-EC-UC EtherCAT Servo Drive 72VDC/32A 0150-1763E1250-SE-UC sercos over EtherCAT Servo Drive 72VDC/32A 0150-1898E1250-DS-UC EtherCAT CoE Servo Drive 72VDC/32A 0150-2410E1250-SC-UC sercos Servo Drive 72VDC/32A 0150-1764E1250-IP-UC ETHERNET IP Servo Drive 72VDC/32A 0150-1761E1250-LU-UC LinUDP Servo Drive 72VDC/32A 0150-2493E1230-DP-UC PROFIBUS-DP Servo Drive 72VDC/32A 0150-1766E1200-GP-UC GENERAL PURPOSE Servo Drive 72VDC/32A 0150-1771




Accessories

Item Description Part NummberCapacitor Capacitor 10’000 mF / 100 V 0150-3075Regeneration Resistor R01-10/60 (10 Ohm, 60 W) 0150-3088Regeneration Resistor RR01-10/150 (10 Ohm, 150 W) 0150-3090

Item Description Part NummberT01-72/420 72VDC, 15A peak, 420VA, 3x400VACT01-72/420-US 72VDC, 15A peak, 420VA, 3x230VACT01-72/900 72VDC, 30A peak, 900VA, 3x400VACT01-72/900-US 72VDC, 30A peak, 900VA, 3x230VACT01-72/1500 72VDC, 2x30A peak, 1500VA, 3x400VACT01-72/1500-US 72VDC, 2x30A peak, 1500VA, 3x230VACS01-72/500 72VDC, 500W, 750W peak, 1x100..120VAC/200..240VACS01-72/1000 72VDC, 1000W, 2000W peak, 3x380..500VAC

Item Description Part NummberIsolated USBRS232converter Isolated USB RS232 converter with config. cable 0150-2473Connector for X4 Connector MC 1,5/12-STF-3,5, delivered with drive 0150-3300RS232 PC config. Cable 2.5m For C1100/C1250/E1200/E1400/M8000 0150-2143Isolated USB-serial converter Isolated USB RS232/422/485 converter 0150-3120



Series C1200

Servo Drive Series C1200



Servo Drives

Servo Drive C1200

Series C1200 Servo Drives are modular axis controllers, with 32-bit position resolution and an integrated power stage, for linear motors and ro-tary drives.

The controllers are suitable for simplest, stan-dard, and high-end positioning tasks, across the entire force range of the LinMot product range.

The Servo Drives have two separate power supply inputs for the logic and power ele-ments.



The Series C1200 Servo Drives can be actuated by machine controls from any manufacturer or brand, via digital inputs and outputs, RS232 or RS485 serial inter-face, CanBus CANopen and DeviceNet interfaces, Profibus DP, or industrial ETHERNET.







Series C1200 Servo Drives have analog and di-gital inputs and outputs, serial interfaces, fieldbu-sses, and ETHERNET connections. The user is therefore not dependent on the selection of the overlaid controller. An appropriate interface is available, with associated protocols, for any PLC or IPC solution.

With flexibility and a compact form factor, LinMot Series C1200 Servo Drives provide a complete solution for a flexible drive concept in single and multiple axis applications, with linear motors and other actuators.


Series C1200


DigitalI/O´s

RS232RS485

CANopen

Device-Net

ProfibusDP

ProfiNet SercosIII

PowerLink

Ethernet IP

EtherCAT

Limit - Switch

Home Switch

Limit + Switch

.

Motor Interfaces Configuration

C1200 Servo Drives provide all necessary interfaces to operate linear or rotary motors with optional external peripherals, such as end position and reference switches, a me-chanical brake, or a high-resolution exter-nal position sensor.

In special applications, two drives can be synchronized with each other using the synchronization interface in masterbooster mode.


Fieldbus and ETHERNET drives can also be configured directly by the overlaid con-trol.

LogicSupply

MotorSupply

TriggerInputs



Optional Brake

Sup

ply

and

Sa

fety

Fas

t P

roce

ss In

puts

Con

fig.

AnalogInputs

LinmotServo DriveSeriesC1200







set points


Commands

Safety

Capture



RS232



Time Curves

Up to 100 different time curves can be stored Series C1200 drives, with up to 16,000 individual waypoints. The motor can thus travel along time curves of any complexity, such as those gen-erated by CAD programs and stored in the drive (Excel CSV format). The time curves can be invoked via the serial interface, fieldbusses, ETHERNET, or the trigger input.


Interpolated Moves

For direct position targets, using absolute or relative positioning, the desired position is reached using acceleration and velocity-limited motion profiles or jerk optimized profiles (jerk limited and Bestehorn). Positioning commands can be invoked via the serial interfaces, CAN-open, DeviceNet, Profibus, Ethernet or a trigger input.


Profiled Moves



Time[ms]

Stroke [mm]


Time[ms]

Stroke [mm]

Curve 1

Time[ms]

Stroke [mm]

Curve 1

Start Curve 1


2

Operating Modes

Setpoint Streaming

Overlaid NC drives with fieldbus or ETHERNET interfaces communicate with the Servo Drives via "Position Streaming". The position and velocity calculated in the overlaid control is transmit-ted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission.

Position Resolution: 32 BitVelocity Resolution 32 BitInterpolator: 10 kHzcycle times: 0.4-5msTime[ms]

Stroke [mm]



Series C1200

Easy Steps



Command Table




Wait Input

Terminate A

Pos 12mm

Rule 1

Start

Stop

Analog Position


Inputs: Analog Input X4 or X20Voltagvte range: 0-10VDC or ±10VResolution: 12 BitScanning rate: >=100µsec (adjustable)

0VPosition

10VPosition




Force Max

Time[ms]0%

100%

Maximum Force [0...10V => 0...100%]



Winding Application



Using the force control technology function, precise joining processes can be implemented reli-ably and reproducibly with high-precision force control. For force control, the current motor force is measured with a load cell and controlled in the drive. Joining process or quality checks with high requirements for applied force can be implemented.

Analog Input: 0-10V or ±10VResolution: 12 BitMin. Force Resolution: 0.1N

FMot= 0,1...580N

Load Cell

0...10V Fone

Series C1200



X1 MOT SUPPLY

PW

R+

PG

ND

1+ 1

- 2+ 2

-

SC

R

X2 MOT PHASES

X3 MOTOR SENSOR

X3

1

n.c

.

6

n.c

.2

n.c

.

7

n.c

.3

+5V

DC

8

A

GN

D4

SIN

9

CO

S5

TE

MP

X7 / X

8 X1

3

S3

S3

X7

CMD INCMD OUTX8

DIFF HALL SWX13 EXT POS SENS /

1 R

S485 R

x+

2 R

S485 R

x-

3 R

S485 T

x+

4 G

ND

5 G

ND

6 R

S485 T

x-

7 C

AN

H8 C

AN

L

1 C

MD

RS

485 T

erm

2 C

MD

CA

N T

erm

3 B

oots

trap

X1

9 S

YS

TE

M1 D

o n

ot connect

2 D

o n

ot connect

3 R

S232 R

X4 G

ND

5 G

ND

6 R

S232 T

X7 D

o n

ot connect

8 D

o n

ot connect

8

Ha

ll S

w /

W15

Ha

ll S

w W

7

Ha

ll S

w /

V14

Hall S

w V

6

Ha

ll S

w /

U13

Ha

ll S

w U

5

GN

D12

Se

ns A

larm

4

Se

ns /

Z11

Sens Z

3

Se

ns /

B10

Se

ns B

2

Se

ns /

A9

S

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1 +

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DC

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11 In

10 In

9 In

8 In

7 Out

6 Out

5 Out

4 Out

3 Out

24VDC

DGND

C1250

X19

SY

STE

MX

4 LO

GIC

SU

PP

LY /

CO

NTR

OL

ENWA

RN

ER

RO

R

24V

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81

X17

RT

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8X

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ID H

IGH

S1

RT

BU

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RR

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18

111

X1: Motor Supply

X2: Motor Phases

X3: Motor Signal


LED State Display

S3: Bus Termination

X7: RS485 / CAN In


X8: RS485 / CAN Out

S1-2:Busadress


LED State Display

X17: RealTime ETHERNET Out

Interfaces

X18: RealTime ETHERNET In

C1

200-

GP

-XC

C12

30-D

P-X

C

C12

50-P

L-X

C

C12

50-E

C-X

C

C12

50-P

N-X

C

C12

50-I

P-X

C

C12

50-S

C-X

C

C12

50-S

E-X

C

Interfaces

CANopen

DeviceNet

LinRS

PROFIBUS-DP

POWERLINK

ETHERCAT

PROFINET

ETHERNET IP

SERCOS III

SERCOS over EtherCAT

Konfig RS232



C1200-GP-XCC1230-DP-XCC1250-PL-XCC1250-EC-XCC1250-PN-XCC1250-IP-XCC1250-SC-XC

Series C1200

Type: Realtime ETHERNET

Switch/Hub: Integrated 2-Port Hub/Switch

Transfer rate: 10/100MBit/sec

Series C1200 drives allow integration of LinMot linear motors in controls concepts with industrial ETHERNET interfaces. The user can integrate Series C1200 drives re-gardless of the provider of the overlaid con-trol.

LinMot drives are available with common industrial ETHERNET protocols. Since all ETHERNET drives have the same motion command interface, and the control and status word are identical, software blocks that have been implemented once can be transferred to other drives without a prob-lem.

Series 1200 Servo Drives support the fol-lowing industrial ETHERNET protocols:

- Profinet - Industrial IP - PowerLink - EtherCat - Sercos III

The appropriate drive is available for each protocol.

Industrial ETHERNET Technical Data






Position Streaming





X1 MOT SUPPLY

PW

R+

PG

ND

1+ 1

- 2+ 2

-

SC

R

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3

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S3

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CMD INCMD OUTX8

DIFF HALL SWX13 EXT POS SENS /

1 R

S485 R

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2 R

S485 R

x-

3 R

S485 T

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4 G

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5 G

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6 R

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11 In

10 In

9 In

8 In

7 Out

6 Out

5 Out

4 Out

3 Out

24VDC

DGND

C1250

X19

SY

STE

MX

4 LO

GIC

SU

PP

LY /

CO

NTR

OL

ENWA

RN

ER

RO

R

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ID H

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S1

RT

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SE

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18

111

X1: Motor Supply

X2: Motor Phases

X3: Motor Signal


LED State Display

S3: Bus Termination

X7: RS485 / CAN In


X8: RS485 / CAN Out

S1-2:Busadress


LED State Display

X17: RealTime ETHERNET Out

X18: RealTime ETHERNET In



X3

SINCOSTEMP.+SVGND

X1

X2

PH1+PH1-PH2+PH2-

LINEAR MOTOR

BRUSHLESS DC MOTOR

C12x0-Series

RS2323

X19

CONFIGURATIONRS232


4

2

X8

COMMUNICATIONINTERFACERS485 CANOPENDEVICENET

RS485

CAN

4

2

X7

RS485

CAN

S1-S2

ID HIGH (S1)

ID LOW (S2)



6

6

X17 / X18

PROFIBUS DPCOMUNICATIONmax. 12MBaud

PROFIBUS DP

X9 (only on -DP)5

X13

OPTIONALEXTERNALPOSITIONS SENSOR


SUPPLY3X400VAC230VAC115VAC

MOTOR SUPPLY

24...85V DC32APHASE CURRENT

BRAKE

LOGIK SUPPLY

X4


PTC1PTC2


+24VDCGND

FAST PROCESSINPUTS

ROTRAY MOTOR &SUPPLY PROTECTION

MACHINE SAFETY5

X33

SAFETY

Series C1200



PWR +

PGND

*

GND intern mit Controller Gehäuse verbunden

3

4 3

4

PWR+

PGND

24...80VDC

GND

* SIEHE INSTALLATION GUIDE

Interfaces

Motor Supply:


If motor supply voltage is exceeding 90VDC, the controller will go into error state



1

2

3

4

5SCRN

1+ u

1- v

2+ w

2- x

X2 Motor Phases

Screw Terminals1.5-4mm²(AWG16-14)


- Use X2 for motor phase wiring if phase current exceeds 5Arms or 7.5Apeak - Use +5V (X3.3) and AGND (X3.8) only for motor internal Hall Sensor supply (max. 100mA)- Do NOT connect AGND (X3.8) to ground or earth!

61

2

3

4

5

7

8

9

X3 Motor

Nr LinMot Linear Motor1 Motor Phase 1+2 Motor Phase 2+3 +5VDC4 Sine5 Temperature6 Motor Phase 1-7 Motor Phase 2-8 AGND9 CosineCase ShieldDSUB-9

PRELIMINARY





CONFIGURABLE IO

CONFIGURABLE IO



CONFIGURABLE IO




GND

GND

GND

GND

GND

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 100mA

MAX. 1.0A

*

*

*

*

*



11

10

9

8

7

6

5

4

3

2

1

Internal Fuse 3AT

4,7k

4,7k

4,7k

4,7k

X4. 11 QuickStop, PTC2X4. 10 IO, PTC1X4. 9 IO, LIM+X4. 8 IO, LIM-X4. 7 IO, HSWX4. 6 IO, TRIGX4. 5 IO, CAPX4. 4 IO, ANX4. 3 IO, /BRKX4. 2 +24VDCX4. 1 DGND

X14

LO

GIC

SU

PP

LY /

IO C

ON

NE

CT

ION

Series C1200

PHASE 2-

PHASE 2+

PHASE 1-

PHASE 1+

+5VDC

AGND

SINE

COSINE

TEMP

GREY

BLUE

PINK

RED

WHITE

INNER SHIELD

YELLOW

GREEN

BLACK

GND

GND

GND

+5VDC

61

2

3

4

5

7

8

9

5

4

3

2

1

OUTER SHIELD

1

2

3

4

5SCRN

1+ u

1- v

2+ w

2- x

6

7

8

9

1

2

3

4

5

2k2

2k2

10k

X2

X3

Motor Motor wiring

X3: DSUB-9 (f)

For LinMot Linear Motors only use ori-ginal LinMot double shielded motor cable K, KS, or KR

X2: Screw Terminals

X4: 11pin Control / Supply





61

2

3

4

5

7

8

9

X9 Profibus DP

Nr1 -2 -3 RxD/TxD-P4 CNTR-P5 GND (galvanically seperated)6 +5V (galvanically seperated)7 -8 RxD/TxD-N9 -Case ShieldDSUB-9

- X7 internally connected to X8 (1:1 connection)- Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring. - The built in CAN and RS485 terminations can be activated by S5.

8

7

6

5

4

3

2

1

X7-X8 RS485/CAN

RJ-45


Interfaces



Max. Input Frequency: 12MHz (RS422 inkrementell), 40ns edge separation

Sensor Supply Current: max. 100mA

Position Encoder Inputs: RS422, Max Input Frequency: 2.5MHz, 5 M counts/s with quadraturedecoding, 40ns edge separation

Encoder Simulated Outputs: RS422, Max Output Frequency: 2.5MHz, 5 M counts/s with quadraturedecoding, 200ns edge separation

Differential Hall Switch Inputs: RS422, Max Input Frequency: <1kHz

Enc. Alarm In: 5V / 1mA

Sensor Supply: 5VDC, max 100mA

91

2

3

4

5

6

7

8

10

11

12

13

14

15

X13 External Position Sensor Commutation

Nr Description1 +5V DC

9 A+ Encoder2 A- Encoder

10 B+ Encoder3 B- Encoder

11 Z+ Encoder4 Z- Encoder

12 Encoder Alarm5 GND

13 U+ Commutation (Hall Switch)6 U- Commutation (Hall Switch)

14 V+ Commutation (Hall Switch)7 V- Commutation (Hall Switch)

15 W+ Commutation (Hall Switch)8 W- Commutation (Hall Switch)

case Shield

DSUB-15 (f)


SwitchS1 Bus ID High (0…F) HEX-Switches for Bus ID

address range 0.255S2 Bus ID Low(0…F)

S3

1 2

3

4

on off

S3 Bus Termination

Switch C1200S5 Switch 1: Termination Resistor for RS485 on CMD (120R between pin 1 and 2 on X7/X8) on/off

Switch 2: CAN Termination on CMD (120R between pin 7 and 8 on X7/X8) on/offSwitch 3: BeostrapFactory settings: all switches “off”

Interfaces

ID HIGH

ID LOW

S1

1 2

3

4

on off

S2

1 2

3

4

on off



Series C1200

X17-X18 Ethernet RealTime

Nr Bez.X17 Specification depends on RT-Bus Type. Please refer to according documentation.X18

8

7

6

5

4

3

2

1

X19 RS232 Configuration

RJ-45

Nr Bez.1 Reserved, do not connect2 Reserved, do not connect3 RS232 RX4 GND5 GND6 RS232 TX7 Reserved, do not connect8 Reserved, do not connectcase Shield

RJ-45

X33. 4/8 Ksr+X33. 3/7 Ksr-X33. 2/6 Ksr f+X33. 1/5 Ksr f-

X33

ST

O R

EL

AY

S

X33: 8pin Safety Relays (only for -1S)

Nr Bez.4 / 8 Ksr + Safety Relay 1 / 2 Input possitive3 / 7 Ksr - Safety Relay 1 / 2 Input negative2 / 6 Ksr f+ Safety Relay 1 / 2 feedback positive1 / 5 Ksr f- Safety Relay 1 / 2 feedback negative



195206

166

108

25

12

34

56

78

O N

11 In

10 In

9 In

8 In

7 Out

6 Out

5 Out

4 Out

3 Out

24VDC

DGND

X19

SY

STE

MX

4 LO

GIC

SU

PP

LY /

CO

NTR

OL

EN

WA

RN

ER

RO

R

24V

OK

81

X17

RT

IN1

8X

18 R

T O

UT

OK

S2

ID L

OW

ID H

IGH

S1

RT

BU

SE

RR

OR

18

111

C1250

Servo Drives Series C1200Width mm (in) 25 (1.0)Height mm (in) 206 (8.1)Height without fixings mm (in) 166 (6.5)Depth mm (in) 108 (4.2)Weight kg (lb) 1.5 (3.3)IP Protection class IP 20Storage temperature °C -25...40Transport temperature °C -25...70Operating temperture °C 0...40 at rated date

40...50 with power deratingMax. case temperature °C 65Max. power dissipation W 30Min. distance between drives mm (in) 20 (0.8) left/right

50 (2) top/bottom

Dimensions

Centers

DimensionsC1200-XX-XC-0Sin mm

Item Description Part NummberC1200-GP-XC-0S General Purpose Drive (72V/25A) 0150-1882C1230-SE-XC-0S Sercos over EtherCAT Drive(72V/25A) 0150-1897C1250-EC-XC-0S EtherCAT Drive (72V/25A) 0150-1884C1250-PL-XC-0S PowerLink Drive (72V/25A) 0150-1885C1250-IP-XC-0S Ethernet IP Drive (72V/25A) 0150-1886C1250-PN-XC-0S Profinet Drive (72V/25A) 0150-1888C1250-SC-XC-0S Sercos III Drive (72V/25A) 0150-1887

C1200-GP-XC-1S General Purpose Drive (72V/25A), STO 0150-2344C1230-SE-XC-1S Sercos over EtherCAT Drive(72V/25A), STO 0150-2350C1250-EC-XC-1S EtherCAT Drive (72V/25A), STO 0150-2345C1250-PL-XC-1S PowerLink Drive (72V/25A), STO 0150-2347C1250-IP-XC-1S Ethernet IP Drive (72V/25A), STO 0150-2346C1250-PN-XC-1S Profinet Drive (72V/25A), STO 0150-2348C1250-SC-XC-1S Sercos III Drive (72V/25A), STO 0150-2349



Notes



Servo Drive

Servo Drive B1100

Series B1100-PP 410

Series B1100-VF 412

Series B1100-GP 414

B11

00



Servo Drives




The Series B1100 Servo Drives can be actuated by machine controls from any manufacturer or brand, via digital inputs and outputs; by RS232 or RS485 serial in-terface; or by CanBus CANopen and De-viceNet interfaces.

Fro complex motion sequences that run in an overarching positioning drive, the mo-tor can be controlled by means of analog speed or force targets. The position signal from the measurement system integrated in the linear motor can be accessed at the encoder output to control position.

Fast process interfaces for direct proces-sing of sensor signals are available as freely programmable analog and digital inputs and fast trigger inputs.

For high-accuracy applications, a freely configurable encoder interface is available. It analyzes the commutation signals from brushless, rotary servomotors as well.

Connection to Machine Drive Process and sensor interfaces Logic and power supply

B11

00

Servo Drives B1100

Series B1100 Servo Drives are compact axis dri-ves, with 32-bit position resolution and an integ-rated power element, for linear motors and rotary drives.

The drives are suitable for simplest and standard positioning tasks, across the entire force range of the LinMot product range.





Series B1100 Servo Drives have analog inputs and digital inputs and outputs, serial interfaces, and fieldbus connections. The user is therefore not dependent on the selection of the overar-ching drive.

With flexibility and a compact form factor, LinMot Series B1100 Servo Drives provide a complete solution for a flexible drive concept in single and multiple axis applications, with linear motors and other actuators.

Series B1100

With a cyclical target value, or "position streaming," the overarching NC or CNC drive communicates with the Servo Drive through CanOpen or DeviceNet.

The position and velocity calculated in the overarching drive is transmitted to the Ser-vo Drive cyclically. The P, PV, or PVT mode is available for this transmission.

Using the cyclical target value, complex motions and interpolating multi-axis appli-cations can be implemented.

Position Streaming Motor Interfaces Configuration

The series B1100 Servo Drives allow con-trol of 1, 2, or 3 phase linear motors and brushless rotary servomotors.

B1100 Servo Drives provide all necessary interfaces to operate linear or rotary motors with optional external peripherals, such as end position and reference switches, a me-chanical brake, or a high-resolution exter-nal position sensor.

Parameterization and configuration of the Servo Drive is done via the RS232 interface on the front side, or CANBus for simultane-ous configuration of several drives..

LinMot Talk user-friendly PC software is available for configuration. In addition to on-line documentation, LinMot Talk provides extensive debugging tools, such as an oscilloscope and an error inspector, for sim-ple and rapid start-up of the axes.

Fieldbus and Ethernet drives can also be configured directly by the overarching drive.

RS232CAN CAN

Limit - Switch

Home Switch

Limit + Switch

LogicSupply

MotorSupply

TriggerInputs



Optional Brake

Su

pply

and

Saf

ety

Fas

t Pro

zess

Inp

uts

Con

fig.

AnalogInputs

LinmotServo DriveSeriesB1100

• 32 Bit Position Value• Resolution 0.1µm


Moves• Analog Position• Two Point Trigger

Moves• Streaming P, PV• Step, Direction,Zero

Capture

Con

fig.



B11

00

DigitalI/O´s

RS232RS485

CANopen

Device-Net

±10V




Operating Modes

Analog Position


Inputs: Analog Inputs (X14.20, X14.8/X14.21)Voltagvte range: 0 - 10VDC (X14.20)

-10 - +10VDC (X14.18/X14.21)Resolution: 10 BitScanning rate: 400µsec

Position Indexing

In position indexing, the linear motor is controlled like a stepper motor, using Step/Dir/Zero, or A/B signals. The step distance is freely programmable from 1.5x10 µm to 3.275mm/step. The input signal can be used directly as the target position, or it can be filtered by the VAinterpolator.

Operating Modes: Step/Dir/Zero, A/B Inputs: differential RS422 (X13/14)Step distance: 1.5x10 µm....3.275mm, 32 BitMax Input Frequency: 2 MHz

+/- 10V Analog Force / Velocity Control

Series B1100 drives allow analog force (torque) or velocity targets to be set, via the +/- 10V interface, by an overlaid position drive. The current actual position is output via the encoder interface, with adjustable resolution, as positioning feedback. In high-precision applications with high-resolution external position sensors, the sensor signals can be passed through in the drive.

Analog Input: -10...+10V, differentialResolution: Max. 12 BitScanning rate: Max. 10 kHzEncoder Simulation: 1,2,5,10,20µm Resolution

0VPosition

10VPosition

STEP

DIR

ZERO

A

B

Z

F v

+10V

-10V

0V

B

A

Time[ms]

Setpoint Streaming

Overlaid NC drives with CANopen or DeviceNet interfaces communicate with the Servo Drives via "Position Streaming". The position and velocity calculated in the overlaid control is transmit-ted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission.


Stroke [mm]

B11

00

-6

-6



Series B1100





Force Max

Time[ms]0%

100%

Maximum Force [0...10V => 0...100%]

Easy Steps

With the Easy Steps function, up to 6 positions or independent travel commands can be stored on the drive, and addressed via 6 serial interfaces, CANopen or DeviceNet.


Input 1 Pos 125mmInput 2 Pos 250mmInput 3 Pos 50mmInput 4 Pos -30mm

B11

00

Interpolated Moves

For direct position targets, using absolute or relative positioning, the desired position is reached using an acceleration and velocity-limited motion profile (VA interpolator). Positioning commands can be invoked via the serial interfaces, CANopen, DeviceNet, or a trigger input.

Stroke range: ±100m Position Resolution: 0.1µm (32Bit)Velocity Resolution: 1.0µm/s (32Bit)Velocity Resolution: 10.0µm/s (32Bit)Time[ms]

Stroke [mm]

Goto 100mmvmax = 2,5m/samax = 3,0m/s

2

2



B1100-PPB1100-PP-HCB1100-PP-HC-XC

B1100-PP

Position Indexing

±10V Force or Velocity Control

Setpoint Streaming (CAN)


MPC Commands

Easy Step


Serial Infaces RS232/RS485

CANopen

DeviceNet

Encoder Simulation

Series B1100-PP

Replacing Pneumatics Easy Steps positioning commands Analog Position Target

Any position can be set, using an analog 0…10V signal.

During configuration, for each position va-lue, one input signal of 0V and 10V is pro-grammed. Any intermediate position can then be set via the analog input signal du-ring operation.

The dynamics can be constrained by limits on speed and acceleration.

Due to their simple controls via digital in-puts and outputs, B1100-PP drive make excellent substitutes for pneumatic cylin-ders.

Using digital inputs, the linear motor can move to up to six freely programmable po-sitions. As soon as the linear motor has reached the position, the corresponding In-Postion output is actuated.

The linear motor can thus be controlled like a pneumatic cylinder with end position switches.

Using the Easy Steps function, up to six ab-solute or relative move commands can be stored in the drive, and invoked via six digi-tal inputs.

Easy Steps also provide the ability to para-meterize internal parameters using two analog inputs. If, for example, the maxi-mum motor current is read at an analog in-put, then the maximum motor force can be provided as analog for freely programmab-le joining processes.

X1: Motor Supply

X2: Motor Phases

X3: Motor Signal

X13: External Position SensorDiff Hall Switch

LED: State Display

X14: I/O‘s, 24VDC Supply

X8: Cmd Out

X7: Cmd In

X5: Configuration

PE

S4: CAN/RS485 Termination

B11

00-P

P



24...80V DC

8A/15A/25APHASECURRENT

X1 X2 (HC)

X14 X13

X3


PH1+PH1-PH2+PH2-

BRUSHLESS DC MOTOR

LINEAR MOTOR

PH1+PH1-PH2+PH2-SINCOSTEMP.+5VGND

MOTOR SUPPLY

B1100-PP



INTERFACE CONFIGURATIONRS232CAN

RS232

RS485

3

4

X5

2

6

6

5

MACHINE CONTROLLER PLC, IPC

LOGIC SUPPLY

STEP/DIR/ZERO

0...10V

INPUTS 1-6

10V

OUTPUTS 1-5

+24VDC

GND

2

INTERFACE CONFIGURATIONCAN

4

2

X8


RS485

CAN

4

2

X7

RS485

CAN

Point to Point

Item Description Part NumberB1100-PP Point to Point Drive (72V/8A) 0150-1735B1100-PP-HC Point to Point Drive (72V/15A) 0150-1736B1100-PP-XC Point to Point Drive (72V/25A) 0150-1740

B11

00-P

P



B1100-VFB1100-VF-HCB1100-VF-XC

±10V 10V Force or Velocity Control, Step and Direction Interface Encoder Simulation

B1100-VF

Position Indexing




MPC Commands

Easy Step



CANopen

DeviceNet

Encoder Simulation

No additional external sensors are needed for position measurement. The current ac-tual position of the linear motor is captured by the integrated position measurement, and is available to the overlaid position drive as an encoder signal.

The resolution of the differential A/B enco-der signals (RS422) is adjustable in the fol-lowing ranges:

1µm, 2µm, 5µm, 10µm, 20µm, 50µm

If an external position sensor is used, it can be read by the B1100 amplifier.

The B1100-VF servo amplifier allows Lin-Mot linear motors to be integrated in sys-tems an overlaid axis drive with analog velocity (RPM) or force target (torque).

In velocity mode, the analog input voltage is used as a velocity target for the connec-ted linear motor. The velocity control loop is closed via a PI drive in the amplifier.

In force mode, the amplifier works like a torque amplifier for rotary motors. The ana-log control signal is converted to a current that the VF amplifier applies to the connec-ted motor.

Motor force is proportional to the current motor current (see motor data sheets for force constant cf).

For step-direction targets, the target positi-on is provided by the overlaid drive via STEP, DIRECTION, and ZERO signals.

The maximum motor current (force) can be limited via a digital input.

Series B1100-VF

X1: Motor Supply

X2: Motor Phases

X3: Motor Signal


LED: State Display


X8: Cmd Out

X7: Cmd In

X5: Configuration

PE


B11

00-V

F



24...80V DC


X1 X2 (HC)

X14 X13

X3


PH1+PH1-PH2+PH2-

BRUSHLESS DC MOTOR

LINEAR MOTOR


MOTOR SUPPLY

B1100-PP



INTERFACE CONFIGURATIONRS232CAN

RS232

RS485

3

4

X5

2

6

6

5


LOGIC SUPPLY

STEP/DIR/ZERO

0...10V

INPUTS 1-6

10V

OUTPUTS 1-5

+24VDC

GND

2


4

2

X8


RS485

CAN

4

2

X7

RS485

CAN

Force Velocity

Item Description Part NumberB1100-VF Force Velocity Drive (72V/4A) 0150-1685B1100-VF-HC Force Velocity Drive (72V/15A) 0150-1686B1100-VF-XC Force Velocity Drive (72V/25A) 0150-1739

B11

00-V

F



B1100-GPB1100-GP-HCB1100-GP-XC

RS232 / RS485 CANopen DeviceNet

B1100-GP

Position Indexing




MPC Commands

Easy Step



CANopen

DeviceNet

Encoder Simulation

With the DeviceNet protocol, even compli-cated motion sequences can be realized with the highest possible flexibility.

The drive can be actuated and monitored via the DeviceNet connection.

B1100-GP are UCMM Group 3-capable slaves, and support polled IO runtime data transfer.

The LinMot B1100-GP series Servo Drives support the LinRS serial communications protocol. LinRS is a proprietary protocol for actuating LinMot Servo Drives via the RS 232, RS 422, and RS 485 interfaces.

If the drive is actuated by the overarching drive via the serial interface, then this is configured from the PC via CanBus. The USBSCAN converter (item no. 0150-3134), supported by LinMot Talk, is used for this.

Adjustable baud rates: 9.6 - 115.2kBaud

The LinMot B1100-GP drives support the CiA DS301 communications protocol.

The following resources are available:3 T_PDO, 3 R_PDO, 1 T_SDO, 1 R_SDO

The following protocols are supported by the CO drives:

• NMT Error Control (Nodeguarding Pro-tocol or HeartBeat Protocol)

• PDO (Transmission type 254 and 1)• SDO Upload and Download• NMT (Start, Stop, Enter PreOp, Reset

Node, Reset Communication) Boot-Up Message

Series B1100-GP

X1: Motor Supply

X2: Motor Phases

X3: Motor Signal


LED: State Display


X8: Cmd Out

X7: Cmd In

X5: Configuration

PE


B11

00-

GP



24...80V DC


X1 X2 (HC)

X3

X13

SUPPLY 3x400VAC230VAC

PH1+PH1-PH2+PH2-

LINEAR MOTOR


B1100-GP


INTERFACE CONFIGURATIONRS232/RS485CAN

RS232/RS485

RS485

3

4

X5

2

6

6

5


LOGIC SUPPLY

STEP/DIR/ZERO

0...10V

INPUTS 1-6

10V

OUTPUTS 1-6

+24VDC

GND

X14

2


4

2

X8


RS485

CAN

4

2

X7

RS485

CAN

MOTOR SUPPLY

BRUSHLESS DC MOTOR


General Purpose

Item Description Part NumberB1100-GP Point to Point Drive (72V/8A) 0150-1737B1100-GP-HC Point to Point Drive (72V/15A) 0150-1738B1100-GP-XC Point to Point Drive (72V/25A) 0150-1741

B11

00-

GP



Motor Supply:


External fusing: 10AT for LC (8Apeak Servos), 16AT for HC and XC (15/25Apeak) Servos


PWR +

PGNDGND internally connected to controller housing, which is connected to PE

10/16AT1

2

1

2

PWR+

PGND

24...85VDC

GND


Interfaces

X1 Motor Supply

The motor phases on X2 and X3 are internally connected. If the RMS current is higher than 5A RMS, the phases must be connected to X2 and not to X3.

1

2

3

4

5SCRN

1+ u

1- v

2+ w

2- x

X2 Motor Phases



- Use X3 for motor phase wiring if phase current does not exceed 2Arms or 4Apeak - X3.3 (+5VDC) may be used only to supply motor hall-effect sensors (max. 100mA).- X3.8 (AGND) may be used only to supply motor hall-effect sensors, and must not be connected to GND externally

61

2

3

4

5

7

8

9

X3 Motor

Nr LinMot Linear Motor 3-Phase-Motor1 Motor Phase 1+ Motor Phase U2 Motor Phase 2+ Motor Phase W3 +5VDC4 Sine Hall U5 Temperature Hall W6 Motor Phase 1- Motor Phase V7 Motor Phase 2-8 AGND9 Cosine Hall VCase ShieldDSUB-9

B11

00



Series B1100

6

7

8

9

PHASE 1+

PHASE 1-

PHASE 2+

PHASE 2-

+5VDC

AGND

SINE

COSINE

TEMP.

RED

PINK

BLUE

GREY

WHITE

INNER SHIELD

YELLOW

GREEN

BLACK

GND

GND

GND

+5VDC


2k2

2k2

10k

61

2

3

4

5

7

8

9

1

2

3

4

5

Motor Motor wiring for phase current below 2Arms and below 4Apeak

X3: DSUB-9 (f)


PHASE 2-

PHASE 2+

PHASE 1-

PHASE 1+

+5VDC

AGND

SINE

COSINE

TEMP

GREY

BLUE

PINK

RED

WHITE

INNER SHIELD

YELLOW

GREEN

BLACK

GND

GND

GND

+5VDC

61

2

3

4

5

7

8

9

5

4

3

2

1

OUTER SHIELD

1

2

3

4

5SCRN

1+ u

1- v

2+ w

2- x

6

7

8

9

1

2

3

4

5

2k2

2k2

10k

Motor Motor wiring

X3: DSUB-9 (f)

For LinMot Linear Motors only use original LinMot double shielded mo-tor cable K, KS, or KR

X2: Screw Terminals

S4 Bus Termination

SwitchS4 Switch 1: RS232 (switch “off” / RS485 “on”) Select serial RS23 or RS485

Switch 2: Termination RS485 on/offSwitch 3: Termination CAN on/offSwitch 4: Bootstrap Factory settings: all switches “off”

S4

1 2

3

4

on off

B11

00



6

7

8

9

RS485_TX+

RS485_RX-

RS232_TX

RS485_TX-

RS232_RX

CAN_L

RS485_RX+

CAN_H

GND

RS485_RX-

RS485_RX+

CAN_L

CAN_H

GND

S4.2

S4.3

100

95

4

3

2

1

8

7

6

120

120

1

2

3

4

5

Interfaces

- X7 internally connected to X8 (1:1 connection)- Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring. - The built in CAN and RS485 terminations can be activated by S3.2 and S3.3.

8

7

6

5

4

3

2

1

X7-X8 RS485/CAN

RJ-45


X5 COM COM Schnittstelle

X5: DSUB-9 (m)


Green:


Red:

State: ErrorBlinking: Fatal Error

Green

LED State Display

Red

B11

00



Series B1100

Max. Input Frequency: 2MHz (incremental RS422), 240ns edge separation

Sensor Supply Current: max. 100mA

Position Encoder Inputs: RS422, Max Input Frequency: 2MHz, 4 M counts/s with quadraturedecoding, 240ns edge separation

Encoder Simulated Outputs:RS422, Max Output Frequency: 2.5MHz, 5 M counts/s with quadraturedecoding, 200ns edge separation




91

2

3

4

5

6

7

8

10

11

12

13

14

15







13 U+ Commutation6 U- Commutation

14 V+ Commutation7 V- Commutation

15 W+ Commutation8 W- Commutation

case Shield

DSUB-15 (f)

B11

00



GND

DIGITAL INPUT 1

DIGITAL INPUT 2

DIGITAL INPUT 3

DIGITAL INPUT 4

DIGITAL INPUT 5

DIGITAL INPUT 6

DIGITAL OUTPUT 1

DIGITAL OUTPUT 2

DIGITAL OUTPUT 3

DIGITAL OUTPUT 4

DIGITAL OUTPUT 5

DIGITAL OUTPUT 6

ANALOG INPUT 0...10V

DIFF ANALOG INPUT -

DIFF ANALOG INPUT +

SHIELD

STEP +

STEP -

DIR +

DIR -

ZERO +

ZERO -

+24VDC

GND

+24VINPUTS

OU

TP

UT

S (

MA

X. 1

00m

A)

+24V DC

*(**) OUTPUTS WITH INTERNAL PULL

DOWN RESISTOR 4K7 (1K6) TO GND

+24V DC 2AT

500mA

100mA

100mA

100mA

100mA

100mA

**

*

*

*

*

*

141

2

3

4

5

6

7

8

910

11

12

13

15

16

17

18

19

20

21

22

23

24

25

14

15

16

17

18

19

20

21

22

23

24

25

1

2

3

4

5

6

7

8

9

10

11

12

13

47k

47k

47k

47k

74k

47k

100k

10k

10k

120RS422

120RS422

120RS422

***

***

***

***

***

***

X14 Digital I/O

X14: DSUB-25 (f)

Logic Supply: Switch Mode Power Supply:24VDC (22...26VDC)External Fuse: 2AT

All Digital Inputs: Direct interfacing to digital 24VDC PLC outputs.Input Current: 1mALogic Levels: Low Level: guaranteed: -5 to 5VDC, typically < 8VDC

High Level: guaranteed: 20...30VDC, typically > 16VDCSample Rate: 400us

All Digital Outputs: Short circuit and overload protected high side switchesVoltage: 24VDCSample Rate: 400usMax. Current: 100mA / 500mA (X14.17)Peak Current: 370mA / 1100mA (X14.17)Outputs may directly drive inductive loads.

Analog Input on X14.20: Range: 0V..+10V 10Bit ADCSample Rate: 400us

Differential Analog Input Range: -10V..+10V 10Bit ADCon X14.8 X14.21 X14.9 Sample Rate: 400usShield:

Differential Step Dir Zero: Indexer Inputs: RS422Max. Input Frequency: 2MHz4 M counts/s with quadrature decoding, 240ns edge separation

Cable length: <30m

Interfaces

B11

00



Dimensions

166

195206

31

106

Centers

Dimensions in mm

Servo Drive Series B1100Width mm (in) 31 (1.3)Hight mm (in) 166 (6.6)Hight without fixings mm (in) 206 (8.1)Depth mm (in) 106 (4.2)Weight g (lb) 700 (1.6)IP Protection class IP 20Storage temperature °C -25...40Transport temperature °C -25...70Operating temperture °C 0...40 at rated date

40...50 with power deratingMax. case temperature °C 70Max. power dissipation W 30Min. distance between drives mm (in) 20 (0.8) left/right

50 (2) top/bottom

Item Description Part Number

B1100-PP Point to Point Drive (72V/8A) 0150-1735B1100-PP-HC Point to Point Drive (72V/15A) 0150-1736B1100-PP-XC Point to Point Drive (72V/25A) 0150-1740

B1100-VF Force Velocity Drive (72V/8A) 0150-1685B1100-VF-HC Force Velocity Drive (72V/15A) 0150-1686B1100-VF-XC Force Velocity Drive (72V/25A) 0150-1739

B1100-GP Point to Point Drive (72V/8A) 0150-1737B1100-GP-HC Point to Point Drive (72V/15A) 0150-1738B1100-GP-XC Point to Point Drive (72V/25A) 0150-1741

B11

00





Accessories B1100




Item Description Part NumberB01-E1100 Control Box for E1100 (incl. cable and connectors) 0150-1970B01-B1100 Control Box for B1100 (incl. cable and connectors) 0150-2110

E11

00/B

1100

Ac

cess

ori

es

SPH500-7207

SPH500-7207

CSA 22.2-60950CSA 22.2-107UL 60950UL 508SPH1013-7214






Item Description Part NumberRS232 PC config. cabel 2m for E100/E1001/E1100/B1100 0150-3307USB-Serial Converter USB to 9-pin Serial Converter 0150-3110USB-CAN Converter USB to CAN Converter for E1100/B1100 0150-3134RJ45-08/0.3 RJ45 patch cable 0.3m for E1100/B1100 0150-1852RJ45-08/0.6 RJ45 crossover patch cable 0.6m 0150-1853

Accessories B1100

0150-3009 0150-3110 0150-3134 0150-1852 0150-1853

E11

00/B

1100

Ac

cess

ori

es

0150-3134 0150-2143



Notes



Servo Drive

Multi Axes System B1150 / B8050

Servo Drive B1150-ML 430

Bus Module B8050-ML 432

B11

50



Servo Drives




The Series B1150 Servo Drives can be actuated by machine controls from any manufacturer or brand, via industrial Ethernet.

Fro complex motion sequences that run in an overarching positioning drive, the mo-tor can be controlled by means of analog speed or force targets. The position signal from the measurement system integrated in the linear motor can be accessed at the encoder output to control position.

Fast process interfaces for direct proces-sing of sensor signals are available as freely programmable analog and digital inputs and fast trigger inputs.

For high-accuracy applications, a freely configurable encoder interface is available. It analyzes the commutation signals from brushless, rotary servomotors as well.

Connection to Machine Drive Process and sensor interfaces Logic and power supply

B11

50

Multi-Axes System B1150 / B8050

Series B1150 Servo Drives are compact axis dri-ves, with 32-bit position resolution and anintegrated power element, for LinMot P01 linear motors and rotary servo motors.

B1150 drives together with the bus modules B8050 are designed for cost optimized, modular multi axes systems with the industrial Ethernet interfaces EtherCAT, Profinet, EthernetIP,Sercos III and Powerlink.





Series B1150 Servo Drives have analog inputs and digital inputs and outputs, serial interfaces, and fieldbus connections. The user is therefore not dependent on the selection of the overar-ching drive.

With flexibility and a compact form factor, LinMot Series B1150 Servo Drives provide a complete solution for a flexible drive concept in single and multiple axis applications, with linear motors and other actuators.Diverse Korrekturen im Deutschen, siehe Kor-rekturen von Dani

Series B1150

With a cyclical target value, or "position streaming," the overarching NC or CNC drive communicates with the Servo Drive via industrial Ethernet.

The position and velocity calculated in the overarching drive is transmitted to the Ser-vo Drive cyclically. The P, PV, or PVT mode is available for this transmission.

Using the cyclical target value, complex motions and interpolating multi-axis appli-cations can be implemented.

Position Streaming Motor Interfaces Configuration

The series B1150 Servo Drives allow con-trol of 1, 2, or 3 phase linear motors and brushless rotary servomotors.

B1150 Servo Drives provide all necessary interfaces to operate linear or rotary motors with optional external peripherals, such as end position and reference switches, a me-chanical brake, or a high-resolution exter-nal position sensor.

Parameterization and configuration of the Servo Drive is done via the RS232 interface on the front side.

LinMot Talk user-friendly PC software is available for configuration. In addition to on-line documentation, LinMot Talk provides extensive debugging tools, such as an oscilloscope and an error inspector, for sim-ple and rapid start-up of the axes.

Fieldbus and Ethernet drives can also be configured directly by the overarching drive.

RS232

Limit - Switch

Home Switch

Limit + Switch

LogicSupply

MotorSupply

TriggerInputs



Optional Brake

Su

pply

and

Saf

ety

Fas

t Pro

zess

Inp

uts

Con

fig.

AnalogInputs

Servo DriveSeries B1150Bus Module B8050

• 32 Bit Position Value• Resolution 0.1µm


Moves• Analog Position• Two Point Trigger

Moves• Streaming P, PV• Step, Direction,Zero

Capture



B11

50

DigitalI/O´s

±10V


ProfiNet SercosIII

PowerLink

Ethernet IP

EtherCAT



Operating Modes

Setpoint Streaming

Overlaid NC drives with industrial Ethernet interfaces communicate with the Servo Drives via "Position Streaming". The position and velocity calculated in the overlaid control is transmitted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission.


Stroke [mm]

B11

50

Interpolated Moves

For direct position targets, using absolute or relative positioning, the desired position is reached using an acceleration and velocity-limited motion profile (VA interpolator). Positioning commands can be invoked via industrial Ethernet, or a trigger input.

Stroke range: ±100m Position Resolution: 0.1µm (32Bit)Velocity Resolution: 1.0µm/s (32Bit)Velocity Resolution: 10.0µm/s (32Bit)Time[ms]

Stroke [mm]

Goto 100mmvmax = 2,5m/samax = 3,0m/s

2

2

Easy Steps

With the Easy Steps function, up to 6 positions or independent travel commands can be stored on the drive, and addressed via 6 serial interfaces or industrial Ethernet.

Digital inputs: max. 6Interface: X14Scanning rate: 400µsec / 2µsec with Ethernet

Input 1 Pos 125mmInput 2 Pos 250mmInput 3 Pos 50mmInput 4 Pos -30mm





Force Max

Time[ms]0%

100%

Maximum Force [0...10V => 0...100%]



Multi Axes Configuration

B11

50

1-Axes 2-Axes

3-Axes 4-Axes

5-Axes 6-Axes

7-Axes 8-Axes



B1150-MLB1150-ML-HCB1150-ML-XC

B1150-ML

Interpolated Moves

Setpoint Streaming P

Setpoint Streaming PV

Setpoint Streaming PVT

Easy Step


Encoder Simulation

Industrial Ethernet Modular Multi Axes Systems Interfaces

B1100 Servo Drives provide all necessary interfaces to operate linear or rotary motors with optional external peripherals, such as end position and reference switches or a mechanical brake.

Using digital inputs, the linear motor can move to up to six freely programmable po-sitions. The resolution of the high resoluti-on A/B/Z encoder input or A/B encoder simulation output is adjustable.

LinMot B1150-ML series Servo Drives to-gether with the bus modules B8050-ML support the following industrial Ethernet In-terfaces:

• EtherCat• Ethernet IP• Powerlink• Profinet• Sercos III

The modular B1150/B8050 system is desi-gned for multi axes applications and integ-ration in industrial Ethernet communication from different PLC or NC manufacturers over a single bus node.

Up to 8 B1150-ML drives may be connec-ted to a bus module B8050 and controlled over industrial Ethernet interfaces.

X1: Motor Supply

X2: Motor Phases

X3: Motor Signal


LED: State Display


X22: MC-Link OUT

X21: MC-Link IN

X23: Configuration RS232

PE


B11

50-M

L

Servo Drive B1150-ML



24...80V DC


X1 X2

X14 X13

X3

SUPPLY3x400VAC230VAC115VAC

PH1+PH1-PH2+PH2-

BRUSHLESS DC MOTOR

LINEAR MOTOR


MOTOR SUPPLY

B1150-ML (-HC/XC)



RS232 INTERFACE CONFIGURATIONRS: 9,6 - 118kBaud

RS2323

X23

6

6

6


LOGIC SUPPLY

STEP/DIR/ZERO

0...10V

INPUTS 1-6

10V

OUTPUTS 1-6

+24VDC

GND

2

MC-LINK 6

2

X22

MC-LINK MC-LINK IN6

2

X21

MC-LINK OUT

B1150-ML

Item Description Part NumberB1150-ML MC-Link Drive (72V/8A) 0150-1796B1150-ML-HC MC-Link Drive (72V/15A) 0150-1797B1150-ML-XC MC-Link Drive (72V/25A) 0150-1798

B11

50-M

L



B8050-ML-ECB8050-ML-IPB8050-ML-PLB8050-ML-PNB8050-ML-SC

Modular Multi Axes Systems Industrial Ethernet Motion Commands

B8050-ML

Industrial Ethernet Interfacing

Multi Axes Interfacing

EtherCAT

Ethernet IP

Powerlink

Profnet

Sercos III

Motion commands for the B1150/B8050 multi axes systems are identical to the B1100 motion commands.

For simple positioning tasks, relative and absolute position commands with velocity and acceleration limitation are available. For more complex motions or synchroniza-tion, the motion profiles are calculated in the overlaid drive and transmitted via set-point streaming.

The modular B1150/B8050 system is desi-gned for multi axes applications and integ-ration in industrial Ethernet communication from different PLC or NC manufacturers over a single bus node.

Up to 8 B1150-ML drives may be connec-ted to a bus module B8050 and controlled over industrial Ethernet interfaces.

LinMot B8050-ML bus modules support the following industrial Ethernet Interfaces:

• EtherCat• Ethernet IP• Powerlink• Profinet• Sercos III

Bus Module B8050-ML

X28X27

X26X25

ABCD

EF0123456

78

ABCD

EF0123456

78

X18: RT ETH Out

X17: RT ETH In

LED: RT Bus

X23: RS Config

X25: MC-Link 1

X27: MC-Link 3

X28: MC-Link 4

X24: Supply

PE

B80

50-M

L

X26: MC-Link 2

S1: ID High

S2: ID Low

LED: State Display



4321

on off

4321

on off

4321

on off

4321

on off

4321

on off

4321

on off

4321

on off

4321

on off

4321

B8050-ML

Item Description Part NumberB8050-ML-EC 8-Axes Bus Module Etercat 0150-1878B8050-ML-IP 8-Axes Bus Module Ethernet IP 0150-1879B8050-ML-PL 8-Axes Bus Module Powerlink 0150-1877B8050-ML-PN 8-Axes Bus Module Profinet 0150-1880B8050-ML-SC 8-Axes Bus Module Sercos III 0150-1881

B80

50-M

L

8 Axes System

4 Axes System

TOPTerminationSettings

BOTTOM

Axis 1 Axis 6Axis 5Bus Module

Axis 4Axis 3Axis 2 Axis 8Axis 7

4321

on off

4321

on off

4321

on off

4321

on off

4321

TOPTerminationSettings

BOTTOM

Axis 1 Axis 6Axis 5Bus Module

Axis 4Axis 3Axis 2 Axis 8Axis 7



Motor Supply:


External fusing: 10AT for LC (8Apeak Servos), 16AT for HC and XC (15/25Apeak) Servos


PWR +

PGNDGND internally connected to controller housing, which is connected to PE

10/16AT1

2

1

2

PWR+

PGND

24...85VDC

GND


Interfaces

X1 Motor Supply

The motor phases on X2 and X3 are internally connected. If the RMS current is higher than 5A RMS, the phases must be connected to X2 and not to X3.

1

2

3

4

5SCRN

1+ u

1- v

2+ w

2- x

X2 Motor Phases



Caution:

- Use +5V (X3.3) and AGND (X3.8) only for motor internal hall sensor supply (max. 100mA)

- Do NOT connect AGND (X3.8) to ground or earth!- It is only allowed to use X3 for connecting the motor phases if RMS current is below 2A and peak current below 4A.

61

2

3

4

5

7

8

9

X3 Motor

Nr LinMot Linear Motor 3-Phase-Motor1 Motor Phase 1+ Motor Phase U2 Motor Phase 2+ Motor Phase W3 +5VDC4 Sine Hall U5 Temperature Hall W6 Motor Phase 1- Motor Phase V7 Motor Phase 2-8 AGND9 Cosine Hall V

Case ShieldDSUB-9

B11

50



Series B1150

6

7

8

9

PHASE 1+

PHASE 1-

PHASE 2+

PHASE 2-

+5VDC

AGND

SINE

COSINE

TEMP.

RED

PINK

BLUE

GREY

WHITE

INNER SHIELD

YELLOW

GREEN

BLACK

GND

GND

GND

+5VDC


2k2

2k2

10k

61

2

3

4

5

7

8

9

1

2

3

4

5

Motor Motor wiring for phase current below 2Arms and below 4Apeak

X3: DSUB-9 (f)


PHASE 2-

PHASE 2+

PHASE 1-

PHASE 1+

+5VDC

AGND

SINE

COSINE

TEMP

GREY

BLUE

PINK

RED

WHITE

INNER SHIELD

YELLOW

GREEN

BLACK

GND

GND

GND

+5VDC

61

2

3

4

5

7

8

9

5

4

3

2

1

OUTER SHIELD

1

2

3

4

5SCRN

1+ u

1- v

2+ w

2- x

6

7

8

9

1

2

3

4

5

2k2

2k2

10k

CAUTION:DO NOTCONNECTX3.1/6/2/7

Motor Motor wiring

X3: DSUB-9 (f)

For LinMot Linear Motors only use original LinMot double shielded mo-tor cable K, KS, or KR

X2: Screw Terminals

S6 MC-Link Termination

SwitchS6 Switch 4: Bootstrap

Factory settings: Switch 3 “on” all other switches “off”

Switch 3: Termination A on/offSwitch 2: Termination B on/offSwitch 1: Not used

S6

4321

on off

B11

50

Important:If motor phase current exceeds 2ARMS or 4Apeak, motor phases must be wired to X2!

Important:Motor phases may only be connected to X3 if RMS current is below 2A and peak current is below 4A!



Interfaces

Use MC-Link cables (Art.-No. 0150-3308)

8

7

6

5

4

3

2

1

X21-X22 MC-Link

RJ-45

Nr1 ML1+2 ML1-3 ML2+4 Cable Select5 GND6 ML2-7 ML3+8 ML3-

Case Shield

Green:


Red:

State: ErrorBlinking: Fatal Error

Green

LED State Display

Red

95

4

3

2

1

8

7

6

X23 Motor

Nr1 (Do not connect)2 RS232_Tx3 RS232_Rx4 (Do not connect)5 GND6 (Do not connect)7 (Do not connect)8 (Do not connect)9 (Do not connect)

Case ShieldDSUB-9 (m)

RS232:Configuration on all drives: use 1:1 connection cable to PC with only 2,3 and 5 connected.Use LinMot RS Config Cable (Art.-No. 0150-3307)



Series B1150

B11

50

Position Encoder Inputs: RS422, Max Input Frequency: 2MHz, 4 M counts/s with quadraturedecoding, 240ns edge separation

Encoder Simulated Outputs: RS422, Max Output Frequency: 2.5MHz, 5 M counts/s with quadraturedecoding, 200ns edge separation




91

2

3

4

5

6

7

8

10

11

12

13

14

15







13 U+ Commutation6 U- Commutation

14 V+ Commutation7 V- Commutation

15 W+ Commutation8 W- Commutation

case Shield

DSUB-15 (f)

X17 in

X18 out

X17-X18 RealTime Ethernet 10/100 Mbit/s

RJ-45

Nr Bez.X17 RT ETH InX18 RT ETH Out

Specification depends on RT-Bus Type. Please refer to according documentation

2

1

X24 Supply

Nr Bez.2 +24VDC Supply (22-26VDC).1 GND Supply

Supply 24V / typ. 150mAStripping Length: 10mm, Connection in acc. with standard:EN-VDE,Use 60/75°C Copper Conductors only, Conductor cross-section max. 1.5mm2



GND

DIGITAL INPUT 1

DIGITAL INPUT 2

DIGITAL INPUT 3

DIGITAL INPUT 4

DIGITAL INPUT 5

DIGITAL INPUT 6

DIGITAL OUTPUT 1

DIGITAL OUTPUT 2

DIGITAL OUTPUT 3

DIGITAL OUTPUT 4

DIGITAL OUTPUT 5

DIGITAL OUTPUT 6

ANALOG INPUT 0...10V

DIFF ANALOG INPUT -

DIFF ANALOG INPUT +

SHIELD

STEP +

STEP -

DIR +

DIR -

ZERO +

ZERO -

+24VDC

GND

+24VINPUTS

OU

TP

UT

S (

MA

X. 1

00m

A)

+24V DC

* INTERNAL PULLDOWN 1K6 TO GND

** INTERNAL PULLDOWN 4K6 TO GND

*** INTERNAL PULLDOWN 10K TO GND

+24V DC 2AT

500mA

100mA

100mA

100mA

100mA

100mA

**

*

*

*

*

*

141

2

3

4

5

6

7

8

910

11

12

13

15

16

17

18

19

20

21

22

23

24

25

14

15

16

17

18

19

20

21

22

23

24

25

1

2

3

4

5

6

7

8

9

10

11

12

13

47k

47k

47k

47k

47k

47k

100k

10k

10k

120RS422

120RS422

120RS422

***

***

***

***

***

***

X14 24VDC Supply and IOs

X14: DSUB-25 (f)

Logic Supply: Switch Mode Power Supply:24VDC (22...26VDC)External Fuse: 2AT

All Digital Inputs: Direct interfacing to digital 24VDC PLC outputs.Input Current: 1mALogic Levels: Low Level: guaranteed: -5 to 5VDC, typically < 8VDC

High Level guaranteed: 20..30VDC, typically > 16VDCSample Rate: 400us

All Digital Outputs: Short circuit and overload protected high side switchesVoltage: 24VDCUpdate Rate: 400usMax. Current: 100mA/500mA (X14.17)Peak Current: 370mA/1100mA (X14.17)

Outputs may directly drive inductive loads. Do not connect any capacity because of the peak current!

Analog Input on X14.20: Range: 0V..+10V 10Bit ADCSample Rate: 400us

Differential Analog Input Range: -10V..+10V 10Bit ADCon X14.8 X14.21 X14.9 Sample Rate: 400usShield:

Differential Step Dir Zero: Indexer Inputs: RS422Max. Input Frequency: 2MHz4 M counts/s with quadrature decoding, 240ns edge separation

Interfaces

B11

50



Dimensions

166

195206

31

106

B11

50-M

LCenters

Dimensions in mm

Servo Drive Series B1150/8050Width mm (in) 31 (1.3)Hight mm (in) 166 (6.6)Hight without fixings mm (in) 206 (8.1)Depth mm (in) 106 (4.2)Weight g (lb) 700 (1.6)IP Protection class IP 20Storage temperature °C -25...40Transport temperature °C -25...70Operating temperture °C 0...40 at rated date

40...50 with power deratingMax. case temperature °C 70Max. power dissipation W 30Clearance around Drives mm (in) 15 (0.8) left/right

50 (2) top100 (4) bottom90 (3.5) front

Item Description Part Number

B1150-ML MC-Link Drive (72V/8A) 0150-1796B1150-ML-HC MC-Link Drive (72V/15A) 0150-1797B1150-ML-XC MC-Link Drive (72V/25A) 0150-1798

B8050-ML-EC 8-Axes Bus Module EtherCAT 0150-1878B8050-ML-IP 8-Axes Bus Module Ethernet IP 0150-1879B8050-ML-PL 8-Axes Bus Module Powerlink 0150-1877B8050-ML-PN 8-Axes Bus Module Profinet 0150-1880B8050-ML-SC 8-Axes Bus Module Sercos III 0150-1881

B11

50

166

195206

31

106

B80

50-M

L

ABCDE

F01234567

8

ABCDE

F01234567

8

Centers





Accessories B1150/B8050




Item Description Part NumberB01-E1100 Control Box for E1100 (incl. cable and connectors) 0150-1970B01-B1150 Control Box for B1150 (incl. cable and connectors) 0150-2110

E11

00/B

1150

Ac

cess

ori

es

SPH500-7207

SPH500-7207

CSA 22.2-60950CSA 22.2-107UL 60950UL 508SPH1013-7214






Item Description Part NumberRS232 PC config. cabel 2m for E100/E1001/E1100/B1150 0150-3307USB-Serial Converter USB to 9-pin Serial Converter 0150-3110RJ45/RJ45-0.2-ML1 MC-Link Cable, 0.2m 0150-3308

Accessories B1150

0150-3009 0150-3110 0150-3134 0150-3308 0150-1853

E11

00/B

1150

Ac

cess

ori

es

0150-2143



Notes


linmot industrial linear motors catalog - servo drives...1/2/3 phase motor (brushless dc, voice...

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